mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
27 lines
609 B
C++
27 lines
609 B
C++
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#include "BinLower.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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BinLower::BinLower() : Command("BinLower"){
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}
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void BinLower::Initialize(){
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SetTimeout(2.5);
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}
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void BinLower::Execute(){
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DentRobot::binElevator->Run(-1.0);
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}
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bool BinLower::IsFinished(){
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if (!DentRobot::binElevator->GetElevatorBottom()||IsTimedOut()){
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printf("Robot stoped BinLowering. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorBottom());
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return true;
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}else{
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return false;
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}
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}
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void BinLower::End(){
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DentRobot::binElevator->Run(0.0f);
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}
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void BinLower::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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