#ifndef BinIn_H
#define BinIn_H

#include "Commands/Command.h"
#include "WPILib.h"

/**
 * @brief Lowers the bin collector until a timeout is reached
 */
class BinIn: public Command {
 public:
  /**
   * @brief Constructs BinIn
   *
   * @param timeout Timeout in seconds
   */
  BinIn(float timeout);
  /**
   * @brief Initializes the class
   */
  void Initialize();
  /**
   * @brief Lowers the bin collector at -1.0 power
   */
  void Execute();
  /**
   * @brief Checks if the command is finished
   *
   * @return True only if the timeout was reached
   */
  bool IsFinished();
  /**
   * @brief Sets the bin collector to stop
   */
  void End();
  /**
   * @brief Calls End()
   */
  void Interrupted();
};
#endif
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