2015-01-16 19:29:55 -05:00
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#include "Lower.h"
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2015-02-03 15:55:11 -05:00
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#include "../../DentRobot.h"
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2015-02-07 07:23:10 -05:00
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#include "../../OI.h"
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2015-01-17 12:55:51 -05:00
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Lower::Lower() : Command("Lower"){
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2015-01-16 19:29:55 -05:00
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}
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void Lower::Initialize(){
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2015-02-07 07:23:10 -05:00
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SetTimeout(2.0);
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2015-01-16 19:29:55 -05:00
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}
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void Lower::Execute(){
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2015-02-04 20:57:33 -05:00
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DentRobot::elevator->Run((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
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2015-01-16 19:29:55 -05:00
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}
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bool Lower::IsFinished(){
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2015-02-07 07:23:10 -05:00
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if (!DentRobot::dio->Get(DentRobot::dio->ELEVATORBOTTOM) || IsTimedOut()){
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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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2015-01-16 19:29:55 -05:00
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}
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void Lower::End(){
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2015-01-17 13:28:27 -05:00
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DentRobot::elevator->Run(0.0f);
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2015-01-16 19:29:55 -05:00
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}
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void Lower::Interrupted(){
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2015-01-17 13:28:27 -05:00
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End();
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2015-01-16 19:29:55 -05:00
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}
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