2015-02-13 19:40:23 -05:00
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#include "RollIn.h"
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RollIn::RollIn() : Command("RollIn"){
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2015-02-02 12:14:27 -05:00
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}
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2015-02-13 19:40:23 -05:00
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void RollIn::Initialize(){
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printf("Initialized RollIn\n");
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2015-02-06 20:38:02 -05:00
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SetTimeout(2.0);
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2015-02-02 12:14:27 -05:00
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}
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2015-02-13 19:40:23 -05:00
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void RollIn::Execute(){
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2015-02-15 17:10:20 -05:00
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double throttle=DentRobot::oi->GetLeftThrottle();
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double cvt=throttle*DentRobot::collector->GetSonarDistance()/0.4/5;
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if(cvt>=1.0){
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DentRobot::collector->MoveRollers(1.0);
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}else{
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DentRobot::collector->MoveRollers(cvt);
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}
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2015-02-02 12:14:27 -05:00
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}
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2015-02-13 19:40:23 -05:00
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bool RollIn::IsFinished(){
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2015-02-14 16:16:03 -05:00
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return IsTimedOut();
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2015-02-02 12:14:27 -05:00
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}
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2015-02-13 19:40:23 -05:00
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void RollIn::End(){
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2015-02-04 20:57:33 -05:00
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DentRobot::collector->MoveRollers(0.0);
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2015-02-02 12:14:27 -05:00
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}
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2015-02-13 19:40:23 -05:00
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void RollIn::Interrupted(){
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2015-02-02 20:08:04 -05:00
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End();
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2015-02-02 12:14:27 -05:00
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}
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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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