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dent/Commands/Autonomous/AutoDrive.cpp

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#include "AutoDrive.h"
#include "../../DentRobot.h"
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// Drive for a short while then stop. Just for testing
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AutoDrive::AutoDrive(double duration, double xtmp, double ytmp) : Command("AutoDrive"){
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Requires(DentRobot::drivetrain);
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SetTimeout(duration);
x=xtmp;
y=ytmp;
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}
void AutoDrive::Initialize(){
}
void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
DentRobot::drivetrain->DriveMecanum(x, y, 0.0, 0.9, 0.0);
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}
bool AutoDrive::IsFinished(){
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return IsTimedOut();
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}
void AutoDrive::End(){
DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0);
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}
void AutoDrive::Interrupted(){
End();
}
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// vim: ts=2:sw=2:et