mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
32 lines
597 B
C++
32 lines
597 B
C++
#include "Lower.h"
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#include "../../DentRobot.h"
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#include "../../OI.h"
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Lower::Lower(double timeout, bool useSoftLimits): Command("Lower") {
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SetTimeout(timeout);
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softLimits=useSoftLimits;
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}
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void Lower::Initialize() {
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}
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void Lower::Execute() {
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DentRobot::elevator->Run(-1.0);
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}
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bool Lower::IsFinished() {
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if(softLimits) {
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if(!DentRobot::elevator->GetElevatorBottom()) {
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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 Lower::End() {
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DentRobot::elevator->Run(0.0f);
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}
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void Lower::Interrupted() {
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End();
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}
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// vim: ts=2:sw=2:et
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