2015-02-02 12:14:27 -05:00
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#include "ReleaseTote.h"
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ReleaseTote::ReleaseTote() : Command("ReleaseTote"){
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2015-02-02 20:43:22 -05:00
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Requires(DentRobot::collector);
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2015-02-02 12:14:27 -05:00
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}
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void ReleaseTote::Initialize(){
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2015-02-06 20:38:02 -05:00
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SetTimeout(2.0);
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2015-02-02 12:14:27 -05:00
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}
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void ReleaseTote::Execute(){
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2015-02-02 20:43:22 -05:00
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//TODO check this value to move the motors in the right direction
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2015-02-04 20:57:33 -05:00
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printf("releasing tote\n");
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2015-02-06 20:38:02 -05:00
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// Devide by 2 twice because this speed should be half the collector speed
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DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
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2015-02-02 12:14:27 -05:00
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}
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bool ReleaseTote::IsFinished(){
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2015-02-02 20:43:22 -05:00
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return DentRobot::collector->BoxCollected();
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2015-02-02 12:14:27 -05:00
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}
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void ReleaseTote::End(){
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2015-02-04 11:15:21 -05:00
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DentRobot::collector->MoveRollers(0.0f);
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2015-02-02 12:14:27 -05:00
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}
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void ReleaseTote::Interrupted(){
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2015-02-02 20:08:04 -05:00
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End();
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2015-02-02 12:14:27 -05:00
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}
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2015-02-07 13:28:08 -05:00
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// vim: ts2:sw=2:et
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