2015-02-13 19:40:23 -05:00
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#ifndef ROLLIN_H
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#define ROLLIN_H
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2015-01-16 19:29:55 -05:00
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2015-01-17 12:55:51 -05:00
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#include "Commands/Command.h"
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2015-02-03 15:55:11 -05:00
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#include "../../CommandBase.h"
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#include "../../DentRobot.h"
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2015-01-16 19:29:55 -05:00
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#include "WPILib.h"
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Rolls collector motors in until a timeout is reached
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*/
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2015-02-13 19:40:23 -05:00
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class RollIn: public Command{
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2015-02-21 08:43:19 -05:00
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private:
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2015-03-02 08:28:03 -05:00
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double rawSpeed; //<! Raw speed of the collector
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2015-01-16 20:12:48 -05:00
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public:
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Constructs RollIn
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*
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* @param double Timeout in seconds
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*/
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2015-02-21 08:43:19 -05:00
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RollIn(double);
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Initializes the class
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*/
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2015-01-16 20:12:48 -05:00
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void Initialize();
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Rolls the four collector motors in
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*/
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2015-01-16 20:12:48 -05:00
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void Execute();
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Checks if the command is finished
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*
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* @return True only if the timeout was reached
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*/
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2015-01-16 20:12:48 -05:00
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bool IsFinished();
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Sets the collector to stop
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*/
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2015-01-16 20:12:48 -05:00
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void End();
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2015-03-01 17:19:00 -05:00
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/**
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* @brief Calls End()
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*/
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2015-01-16 20:12:48 -05:00
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void Interrupted();
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2015-01-16 19:29:55 -05:00
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};
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#endif
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2015-02-08 12:26:15 -05:00
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// vim: ts=2:sw=2:et
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