#include "BinRaise.h"
#include "../../DentRobot.h"
#include "../../OI.h"
BinRaise::BinRaise(double timeout): Command("BinRaise") {
  SetTimeout(timeout);
}
void BinRaise::Initialize() {}
void BinRaise::Execute() {
  DentRobot::binElevator->Run(1.0);
}
bool BinRaise::IsFinished() {
  if(/*!DentRobot::binElevator->GetElevatorTop()||*/IsTimedOut()) {
    printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::binElevator->GetElevatorTop());
    return true;
  } else {
    return false;
  }
}
void BinRaise::End() {
  DentRobot::binElevator->Run(0.0f);
}
void BinRaise::Interrupted() {
  End();
}
// vim: ts=2:sw=2:et