mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
31 lines
639 B
C++
31 lines
639 B
C++
#include "Lower.h"
|
|
#include "../../DentRobot.h"
|
|
#include "../../OI.h"
|
|
Lower::Lower(double timeout, bool useSoftLimits): Command("Lower") {
|
|
SetTimeout(timeout);
|
|
softLimits=useSoftLimits;
|
|
}
|
|
void Lower::Initialize() {}
|
|
void Lower::Execute() {
|
|
DentRobot::elevator->Run(DentRobot::oi->GetRightThrottle()*1.0);
|
|
}
|
|
bool Lower::IsFinished() {
|
|
// if(softLimits) {
|
|
// if(!DentRobot::elevator->GetElevatorBottom()) {
|
|
// return true;
|
|
// }
|
|
// }
|
|
if(IsTimedOut()) {
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
void Lower::End() {
|
|
DentRobot::elevator->Run(0.0f);
|
|
}
|
|
void Lower::Interrupted() {
|
|
End();
|
|
}
|
|
// vim: ts=2:sw=2:et
|