mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
23 lines
662 B
C++
23 lines
662 B
C++
#include "ReleaseTote.h"
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ReleaseTote::ReleaseTote() : Command("ReleaseTote"){
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Requires(DentRobot::collector);
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}
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void ReleaseTote::Initialize(){
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SetTimeout(2.0);
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}
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void ReleaseTote::Execute(){
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//TODO check this value to move the motors in the right direction
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printf("releasing tote\n");
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// Devide by 2 twice because this speed should be half the collector speed
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DentRobot::collector->MoveRollers((-DentRobot::oi->GetLeftStick()->GetRawAxis(3)+1.0)/2/2);
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}
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bool ReleaseTote::IsFinished(){
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return DentRobot::collector->BoxCollected();
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}
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void ReleaseTote::End(){
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DentRobot::collector->MoveRollers(0.0f);
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}
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void ReleaseTote::Interrupted(){
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End();
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}
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