#include "RollVar.h"
RollVar::RollVar(double speedVal): Command("RollVar") {
  speed = speedVal;
}
void RollVar::Initialize() {
  printf("Initialized RollVar\n");
  SetTimeout(2.0);
  Requires(DentRobot::drivetrain);
}
void RollVar::Execute() {
  DentRobot::collector->MoveLeftRoller(1-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
  DentRobot::collector->MoveRightRoller(-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
  DentRobot::collector->MoveBottomRollers(speed*1.0);
}
bool RollVar::IsFinished() {
  return IsTimedOut();
}
void RollVar::End() {
  DentRobot::collector->MoveRollers(0.0);
}
void RollVar::Interrupted() {
  End();
}
// vim: ts=2:sw=2:et