void DriveStraight::End() {
double l=Robot::drivetrain->GetLeftDistance();
double r=Robot::drivetrain->GetRightDistance();
double h=Robot::drivetrain->GetHeading();
std::cout << TimeSinceInitialized()<< " DriveStraight End("<<l<<","<<r<<","<<h<<")"<<std::endl;
Acntrl.End();
Dcntrl.End();
Robot::drivetrain->EndTravel();
}
// Make this return true when this Command no longer needs to run execute()
bool ShooterLoadCommand::IsFinished()
{
if(TimeSinceInitialized() > 0.5)
{
Robot::shooter->LoaderUndeploy();
return true;
}
return false;
}
// Make this return true when this Command no longer needs to run execute()
bool Move::IsFinished() {
if(seconds -TimeSinceInitialized() <= 0)
{
return true;
}
else
{
return false;
}
}
// Make this return true when this Command no longer needs to run execute()
bool DriveDirectionCommand::IsFinished()
{
return (TimeSinceInitialized() >= m_time);
}
void ExecHolder::SetDeltaTimeout(double t) {
elapsed_time=TimeSinceInitialized();
timing=true;
SetTimeout(elapsed_time+t);
}
void Turn::End() {
double h=Robot::drivetrain->GetHeading();
std::cout << TimeSinceInitialized()<< " Turn End("<<h<<")"<<std::endl;
pid.Disable();
Robot::drivetrain->EndTravel();
}
// Make this return true when this Command no longer needs to run execute()
bool CalibrateTurret::IsFinished()
{
return (TimeSinceInitialized() > 2);
}
/**
* Returns whether or not the {@link Command#timeSinceInitialized() timeSinceInitialized()}
* method returns a number which is greater than or equal to the timeout for the command.
* If there is no timeout, this will always return false.
* @return whether the time has expired
*/
bool Command::IsTimedOut()
{
return m_timeout != -1 && TimeSinceInitialized() >= m_timeout;
}
// Make this return true when this Command no longer needs to run execute()
bool BallToIntakeCmd::IsFinished()
{
return TimeSinceInitialized() > 1.75;
}
// Called repeatedly when this Command is scheduled to run
void FireDisc::Execute() {
if(TimeSinceInitialized() < .7)
Robot::fire->Forward();
else
Robot::fire->Backward();
}