basic_command.h

#pragma once
 
#include "core/utils/command_structure/auto_command.h"
 
// Basic Motor Classes-----------------------------------------------

class BasicSpinCommand : public AutoCommand {
  public:
    // Enumurator for the type of power setting in the motor
    enum type { percent, voltage, velocity };

    BasicSpinCommand(vex::motor &motor, vex::directionType dir, BasicSpinCommand::type setting, double power);

    bool run() override;
 
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    vex::motor &motor;
 
    type setting;
 
    vex::directionType dir;
 
    double power;
};

class BasicStopCommand : public AutoCommand {
  public:
    BasicStopCommand(vex::motor &motor, vex::brakeType setting);

    bool run() override;
 
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    vex::motor &motor;
 
    vex::brakeType setting;
};
 
// Basic Solenoid Commands----------------------------------

class BasicSolenoidSet : public AutoCommand {
  public:
    BasicSolenoidSet(vex::pneumatics &solenoid, bool setting);

    bool run() override;
    /*
     * Returns a string describing the commands functionality
     */
    std::string toString() override;
 
  private:
    vex::pneumatics &solenoid;
 
    bool setting;
};