#ifndef TURN_H
#define TURN_H

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

/**
 * @brief Turns the robot
 *
 * Turns the robot until a timeout is reached
 */
class Turn: public Command {
 public:
  /**
   * @brief Constructs Turn
   *
   * @param timeout Timeout in seconds
   */
  Turn(double timeout);
  /**
   * @brief Initializes the class
   */
  void Initialize();
  /**
   * @brief Turns the robot
   */
  void Execute();
  /**
   * @brief Checks if the command is finished
   *
   * @return True only if the timeout was reached
   */
  bool IsFinished();
  /**
   * @brief Sets the drivetrain to stop
   */
  void End();
  /**
   * @brief Calls End()
   */
  void Interrupted();
};
#endif
// vim: ts=2:sw=2:et