public LiftCommand(Button button, String name) {
this.button = button;
this.name = name;
liftIO = LiftIO.getInstance();
liftIO.setA(false);
liftIO.setB(false);
liftIO.setPOV(-1);
}
@Override
public void execute() {
if (!started) {
switch (button) {
case PICKUP:
{
liftIO.setA(true);
break;
}
case PICKUPFLOOR:
{
liftIO.setB(true);
break;
}
case PLACE:
{
liftIO.setPOV(270);
break;
}
case MOVEUP:
{
liftIO.setPOV(0);
break;
}
case MOVEDOWN:
{
liftIO.setPOV(180);
break;
}
}
started = true;
} else {
done = LiftStates.getInstance().sequenceDone() && !prevDone;
}
prevDone = done;
}