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

31 lines
689 B
C++

#include "Raise.h"
#include "../../DentRobot.h"
#include "../../OI.h"
Raise::Raise() : Command("Raise"){
}
void Raise::Initialize(){
SetTimeout(3.0);
}
void Raise::Execute(){
DentRobot::elevator->Run(1.0);
}
bool Raise::IsFinished(){
if (!DentRobot::elevator->GetElevatorTop()||IsTimedOut()){
printf("Robot stoped raising. Sensor based? %d\n", !DentRobot::elevator->GetElevatorTop());
return true;
}else{
return false;
}
}
void Raise::End(){
// If the elevator is at the top
if(DentRobot::elevator->GetElevatorTop()){
DentRobot::elevator->SetUseEncoder(true);
}
DentRobot::elevator->Run(0.0f);
}
void Raise::Interrupted(){
End();
}
// vim: ts=2:sw=2:et