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;
};