mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
24 lines
675 B
C++
24 lines
675 B
C++
#include "RollOut.h"
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RollOut::RollOut(double timeout): Command("RollOut"){
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Requires(DentRobot::collector);
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SetTimeout(timeout);
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}
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void RollOut::Initialize(){
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}
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void RollOut::Execute(){
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//TODO check this value to move the motors in the right direction
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// Divide by 2 twice because this speed should be half the collector speed
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DentRobot::collector->MoveRollers(-DentRobot::oi->GetLeftThrottle() * 0.8);
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SmartDashboard::PutNumber("DriveThrottle", -DentRobot::oi->GetLeftThrottle());
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}
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bool RollOut::IsFinished(){
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return IsTimedOut();
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}
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void RollOut::End(){
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DentRobot::collector->MoveRollers(0.0f);
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}
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void RollOut::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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