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dent/Commands/Elevator/Raise.cpp

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#include "Raise.h"
#include "../../DentRobot.h"
#include "../../OI.h"
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Raise::Raise(double timeout): Command("Raise"){
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SetTimeout(timeout);
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}
void Raise::Initialize(){
}
void Raise::Execute(){
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DentRobot::elevator->Run(1.0);
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}
bool Raise::IsFinished(){
//if(!DentRobot::elevator->GetElevatorMiddle()){
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// DentRobot::elevator->stoppedAtSensor = true;
//}
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//if((DentRobot::elevator->stoppedAtSensor)){
// printf("Stopped at the middle sensor\n");
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// DentRobot::elevator->stoppedAtSensor = false;
// return true;
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//}else if(!DentRobot::elevator->GetElevatorTop()){
if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
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printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle());
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return true;
}else{
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return false;
}
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}
void Raise::End(){
// If the elevator is at the top
if(DentRobot::elevator->GetElevatorTop()){
DentRobot::elevator->SetUseEncoder(true);
}
DentRobot::elevator->Run(0.0f);
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}
void Raise::Interrupted(){
End();
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}
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// vim: ts=2:sw=2:et