#include "RollIn.h"
RollIn::RollIn(double speed): Command("RollIn") {
  rawSpeed = speed;
}
void RollIn::Initialize() {
  printf("Initialized RollIn\n");
  SetTimeout(2.0);
}
void RollIn::Execute() {
  //double cvt = (rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
  //if(cvt <= 1.0){
  //  DentRobot::collector->MoveRollers(1.0);
  //}else{
  //  DentRobot::collector->MoveRollers(cvt*1.5);
  //}
  DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
}
bool RollIn::IsFinished() {
  return IsTimedOut();
}
void RollIn::End() {
  DentRobot::collector->MoveRollers(0.0);
}
void RollIn::Interrupted() {
  End();
}
// vim: ts=2:sw=2:et