mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
28 lines
768 B
C++
28 lines
768 B
C++
#include "CloseCollector.h"
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CloseCollector::CloseCollector() : Command("CloseCollector"){
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}
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void CloseCollector::Initialize(){
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printf("Initialized collector: 0.5\n");
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SetTimeout(1);
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}
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void CloseCollector::Execute(){
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//printf("Closing collector: -0.5f\n");
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DentRobot::collector->MoveArms(-0.5);
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//DentRobot::collector->MoveArms(-(-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
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}
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bool CloseCollector::IsFinished(){
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if(DentRobot::collector->ArmSensor()||IsTimedOut()){
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printf("Stopped Closing: %d, %d\n",DentRobot::collector->ArmSensor(), IsTimedOut());
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return true;
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}else{
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return false;
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}
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}
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void CloseCollector::End(){
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DentRobot::collector->MoveArms(0.0f);
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}
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void CloseCollector::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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