mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
28 lines
653 B
C++
28 lines
653 B
C++
#include "RollIn.h"
|
|
RollIn::RollIn(double speed): Command("RollIn"){
|
|
rawSpeed=speed;
|
|
}
|
|
void RollIn::Initialize(){
|
|
printf("Initialized RollIn\n");
|
|
SetTimeout(2.0);
|
|
}
|
|
void RollIn::Execute(){
|
|
//double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
|
|
//if(cvt<=1.0){
|
|
// DentRobot::collector->MoveRollers(1.0);
|
|
//}else{
|
|
// DentRobot::collector->MoveRollers(cvt*1.5);
|
|
//}
|
|
DentRobot::collector->MoveRollers(DentRobot::oi->GetLeftThrottle() * 1.0);
|
|
}
|
|
bool RollIn::IsFinished(){
|
|
return IsTimedOut();
|
|
}
|
|
void RollIn::End(){
|
|
DentRobot::collector->MoveRollers(0.0);
|
|
}
|
|
void RollIn::Interrupted(){
|
|
End();
|
|
}
|
|
// vim: ts=2:sw=2:et
|