mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
22 lines
612 B
C++
22 lines
612 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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void RollOut::Execute() {
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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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