#ifndef LOWER_H
#define LOWER_H

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

/**
 * @brief Lowers the elevator until a timeout is reached
 */
class Lower: public Command{
  private:
    bool softLimits;
  public:
    /**
     * @brief Constructs Lower
     *
     * @param timeout Timeout in seconds (default: 3.0)
     *
     * @param useSoftLimits Enables/Disables soft limits via hall effect sensors (default: true)
     */
    Lower(double timeout = 3.0, bool useSoftLimits = true);
    /**
     * @brief Initializes the class
     */
    void Initialize();
    /**
     * @brief Lowers the elevator at -1.0 power
     */
    void Execute();
    /**
     * @brief Checks if the command is finished
     *
     * @return True if the timeout was reached or if the bottom elevator sensor was triggered
     */
    bool IsFinished();
    /**
     * @brief Sets the elevator to stop
     */
    void End();
    /**
     * @brief Calls End()
     */
    void Interrupted();
};
#endif
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