mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
#ifndef AUTODRIVE_H
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#define AUTODRIVE_H
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#include "Commands/Command.h"
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#include "../../CommandBase.h"
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#include "../../DentRobot.h"
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#include "WPILib.h"
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/**
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* @brief Drives the robot without a joystick
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*
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* Drives the robot given a timeout and joystick values
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*/
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class AutoDrive: public Command{
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private:
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double x, //<! The x value of the simulated joystick value
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y; //<! The y value of the simulated joystick value
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public:
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/**
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* @brief Constructs AutoDrive
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*
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* @param duration Timeout in seconds
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* @param xtmp Joystick x value (default: 0.0)
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* @param ytmp Joystick y value (default: 0.75)
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*/
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AutoDrive(double duration, double xtmp = 0.0, double ytmp = -0.75);
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/**
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* @brief Initializes the class
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*/
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void Initialize();
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/**
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* @brief Drives the robot
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*/
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void Execute();
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/**
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* @brief Checks if the command is finished
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*
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* @return True only if the timeout was reached
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*/
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bool IsFinished();
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/**
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* @brief Sets the drivetrain to stop
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*/
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void End();
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/**
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* @brief Calls End()
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*/
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void Interrupted();
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};
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#endif
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// vim: ts=2:sw=2:et
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