mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
39 lines
1.1 KiB
C++
39 lines
1.1 KiB
C++
#include "Raise.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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Raise::Raise() : Command("Raise"){
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}
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void Raise::Initialize(){
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SetTimeout(3.0);
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}
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void Raise::Execute(){
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DentRobot::elevator->Run(1.0);
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}
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bool Raise::IsFinished(){
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//if(!DentRobot::elevator->GetElevatorMiddle()){
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// DentRobot::elevator->stoppedAtSensor=true;
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//}
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//if ((DentRobot::elevator->stoppedAtSensor)){
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// printf("Stopped at the middle sensor\n");
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// DentRobot::elevator->stoppedAtSensor=false;
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// return true;
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//}else if (!DentRobot::elevator->GetElevatorTop()) {
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if (!DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle()||IsTimedOut()){
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printf("Robot stopped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop()||!DentRobot::elevator->GetElevatorMiddle());
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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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