mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
26 lines
738 B
C++
26 lines
738 B
C++
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#include "RollVar.h"
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RollVar::RollVar(double speedVal): Command("RollVar"){
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speed=speedVal;
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}
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void RollVar::Initialize(){
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printf("Initialized RollVar\n");
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SetTimeout(2.0);
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Requires(DentRobot::drivetrain);
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}
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void RollVar::Execute(){
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DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
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DentRobot::collector->MoveLeftRoller(speed*DentRobot::oi->GetLeftStick()->GetRawAxis(2));
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DentRobot::collector->MoveRightRoller(speed*-DentRobot::oi->GetLeftStick()->GetRawAxis(2));
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DentRobot::collector->MoveBottomRollers(speed*1.0);
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}
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bool RollVar::IsFinished(){
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return IsTimedOut();
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}
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void RollVar::End(){
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DentRobot::collector->MoveRollers(0.0);
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}
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void RollVar::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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