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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00
dent/Commands/Autonomous/AutoDrive.cpp

29 lines
762 B
C++

#include "AutoDrive.h"
#include "../../DentRobot.h"
// Drive for a short while then stop. Just for testing
AutoDrive::AutoDrive(double duration, double xtmp, double ytmp, double ztmp, bool useGyro): Command("AutoDrive"){
Requires(DentRobot::drivetrain);
SetTimeout(duration);
x=xtmp;
y=ytmp;
z=ztmp;
gyro=false;
}
void AutoDrive::Initialize(){
DentRobot::drivetrain->ResetGyro();
}
void AutoDrive::Execute(){
//X axis, Y axis, Z axis, sensitivity, speed threshold (usually throttle)
DentRobot::drivetrain->DriveMecanum(x, y, z, 0.9, gyro);
}
bool AutoDrive::IsFinished(){
return IsTimedOut();
}
void AutoDrive::End(){
DentRobot::drivetrain->DriveMecanum(0.0, 0.0, 0.0, 0.9);
}
void AutoDrive::Interrupted(){
End();
}
// vim: ts=2:sw=2:et