DriveRobotCommand.h

//
// Created by Tucker Haydon on 4/28/17.
//

#pragma once
#include "Command.h"
#include "../../include/commands/DriveMotorRPM.h"
#include <sys/time.h>
#include <math.h>

class DriveRobotCommand:public Command {

public:
    DriveRobotCommand(Communicator* comm, EncoderSensor* leftEncoder, EncoderSensor* rightEncoder, double radius, double rotationRate, int duration_ms, double wheelDiameter, double drivetrainDiameter);
    ~DriveRobotCommand();

    bool execute() override;

    bool cleanup(bool canceled) override;

private:
    int duration_ms;
    long long endTime = -1;
    Command* leftMotorCommand;
    Command* rightMotorCommand;


};