mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
28 lines
637 B
C++
28 lines
637 B
C++
#include "BinLower.h"
|
|
#include "../../DentRobot.h"
|
|
#include "../../OI.h"
|
|
BinLower::BinLower(float t) : Command("BinLower"){
|
|
timeout=t;
|
|
}
|
|
void BinLower::Initialize(){
|
|
SetTimeout(timeout);
|
|
}
|
|
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
|