mirror of
https://github.com/team2059/Dent
synced 2024-12-28 21:02:30 -05:00
25 lines
687 B
C++
25 lines
687 B
C++
#include "RollVar.h"
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RollVar::RollVar(double speedVal): Command("RollVar") {
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speed = speedVal;
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}
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void RollVar::Initialize() {
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printf("Initialized RollVar\n");
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SetTimeout(2.0);
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Requires(DentRobot::drivetrain);
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}
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void RollVar::Execute() {
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DentRobot::collector->MoveLeftRoller(1-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
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DentRobot::collector->MoveRightRoller(-(speed*(DentRobot::oi->GetLeftStick()->GetRawAxis(2)+1)/2));
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DentRobot::collector->MoveBottomRollers(speed*1.0);
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}
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bool RollVar::IsFinished() {
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return IsTimedOut();
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}
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void RollVar::End() {
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DentRobot::collector->MoveRollers(0.0);
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}
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void RollVar::Interrupted() {
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End();
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}
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// vim: ts=2:sw=2:et
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