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https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
26 lines
654 B
C++
26 lines
654 B
C++
#include "Calibrate.h"
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#include "../../DentRobot.h"
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// Lowers elevator until it hits the limit switch then sets the height of the elevator to the height of the limit switches
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Calibrate::Calibrate() : Command("Calibrate"){
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}
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void Calibrate::Initialize(){
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}
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void Calibrate::Execute(){
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// Lower collector until End()
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DentRobot::elevator->Run(-0.4f);
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}
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bool Calibrate::IsFinished(){
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if(DentRobot::elevator->GetElevatorBottom()){
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DentRobot::elevator->ResetEncoder();
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DentRobot::elevator->SetOffset(0.99);
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return true;
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}
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return false;
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}
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void Calibrate::End(){
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DentRobot::elevator->Run(0.0f);
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}
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void Calibrate::Interrupted(){
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End();
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}
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