allwpilib/wpilibcExamples/src/main/cpp/examples/GearsBot/include/commands/CloseClaw.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <frc2/command/CommandBase.h>
#include <frc2/command/CommandHelper.h>

#include "subsystems/Claw.h"

/**
 * Closes the claw until the limit switch is tripped.
 */
class CloseClaw : public frc2::CommandHelper<frc2::CommandBase, CloseClaw> {
 public:
  explicit CloseClaw(Claw* claw);
  void Initialize() override;
  bool IsFinished() override;
  void End(bool interrupted) override;

 private:
  Claw* m_claw;
};