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