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