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dent/Commands/Collector/RollIn.cpp

23 lines
577 B
C++

#include "RollIn.h"
RollIn::RollIn() : Command("RollIn"){
Requires(DentRobot::collector);
}
void RollIn::Initialize(){
printf("Initialized RollIn\n");
SetTimeout(2.0);
}
void RollIn::Execute(){
//TODO check this value to move the motors in the right direction
DentRobot::collector->MoveRollers(-(-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2);
}
bool RollIn::IsFinished(){
return DentRobot::collector->BoxCollected()||IsTimedOut();
}
void RollIn::End(){
DentRobot::collector->MoveRollers(0.0);
}
void RollIn::Interrupted(){
End();
}
// vim: ts=2:sw=2:et