mirror of
https://github.com/team2059/Dent
synced 2024-12-18 20:52:29 -05:00
27 lines
565 B
C++
27 lines
565 B
C++
#include "RollIn.h"
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RollIn::RollIn(double speed) : Command("RollIn"){
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rawSpeed=speed;
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}
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void RollIn::Initialize(){
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printf("Initialized RollIn\n");
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SetTimeout(2.0);
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}
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void RollIn::Execute(){
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double cvt=(rawSpeed)*DentRobot::collector->GetSonarDistance()/0.4;
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if(cvt>=1.0){
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DentRobot::collector->MoveRollers(1.0);
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}else{
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DentRobot::collector->MoveRollers(cvt*1.5);
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}
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}
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bool RollIn::IsFinished(){
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return IsTimedOut();
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}
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void RollIn::End(){
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DentRobot::collector->MoveRollers(0.0);
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}
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void RollIn::Interrupted(){
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End();
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}
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// vim: ts=2:sw=2:et
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