mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
24 lines
560 B
C++
24 lines
560 B
C++
#include "Turn.h"
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#include "../../DentRobot.h"
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Turn::Turn(double timeout) : Command("Turn"){
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Requires(DentRobot::drivetrain);
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SetTimeout(timeout);
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}
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void Turn::Initialize(){
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}
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void Turn::Execute(){
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//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle), gyro
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DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.6, 0.9, 0.0);
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}
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bool Turn::IsFinished(){
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return IsTimedOut();
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}
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void Turn::End(){
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// Stop driving
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DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9, 0.0);
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}
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void Turn::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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