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dent/Commands/Collector/RollIn.cpp

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#include "RollIn.h"
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RollIn::RollIn(double speed): Command("RollIn"){
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rawSpeed=speed;
}
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void RollIn::Initialize(){
printf("Initialized RollIn\n");
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SetTimeout(2.0);
}
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void RollIn::Execute(){
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//double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
//if(cvt<=1.0){
// DentRobot::collector->MoveRollers(1.0);
//}else{
// DentRobot::collector->MoveRollers(cvt*1.5);
//}
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 0.8);
}
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bool RollIn::IsFinished(){
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return IsTimedOut();
}
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void RollIn::End(){
DentRobot::collector->MoveRollers(0.0);
}
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void RollIn::Interrupted(){
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End();
}
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// vim: ts=2:sw=2:et