mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
35 lines
800 B
C++
35 lines
800 B
C++
#include "Raise.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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Raise::Raise(double timeout, bool useSoftLimits): Command("Raise") {
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SetTimeout(timeout);
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softLimits=useSoftLimits;
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}
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void Raise::Initialize() {}
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void Raise::Execute() {
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DentRobot::elevator->Run(DentRobot::oi->GetRightThrottle()*1.0);
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}
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bool Raise::IsFinished() {
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if(softLimits) {
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if(!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()) {
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return true;
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}
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}
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if(IsTimedOut()) {
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return true;
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} else {
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return false;
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}
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}
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void Raise::End() {
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// If the elevator is at the top
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if(DentRobot::elevator->GetElevatorTop()) {
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DentRobot::elevator->SetUseEncoder(true);
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}
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DentRobot::elevator->Run(0.0f);
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}
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void Raise::Interrupted() {
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End();
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}
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// vim: ts=2:sw=2:et
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