#include "BinIn.h"
#include "../../DentRobot.h"
#include "../../OI.h"
BinIn::BinIn(float timeout): Command("BinIn") {
  SetTimeout(timeout);
}
void BinIn::Initialize() {
}
void BinIn::Execute() {
  DentRobot::binCollector->MoveArms(0.75);
}
bool BinIn::IsFinished() {
  if(IsTimedOut()) {
    printf("Robot stopped collecting bin.\n");
    return true;
  } else {
    return false;
  }
}
void BinIn::End() {
  DentRobot::binCollector->MoveArms(0.0);
}
void BinIn::Interrupted() {
  End();
}
// vim: ts=2:sw=2:et