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## PER.rover
Class ApproachAction

    java.lang.Object
      PER.rover.ApproachAction

All Implemented Interfaces:
  Action, java.io.Serializable

public class ApproachAction
extends java.lang.Object
implements Action

Scans to find the exact location of a rock, turns to align precisely, and then drives up to the rock.

See Also:
  Serialized Form

Constructor Summary
`ApproachAction(FindRockAction scan)` Creates a new instance of ApproachAction

Method Summary
`boolean` | `doAction(Rover r)` Tries to start the action.
`long` | `getImageUpdateTime()` This action does not take pictures so `getImageUpdateTime()` will always return 0.
`java.awt.image.BufferedImage` | `getRecentImage()` This action does not take pictures so `getRecentImage()` will always return null.
`int` | `getReturnValue()` The return value of the Action.
`java.lang.String` | `getShortSummary()` Provides a shortened version of the summary returned by getSummary.
`java.lang.String` | `getSummary()` Provides a textual explanation of the Action, such as "turn 90 degrees"
`int` | `getTime()` How long the action will take, in milliseconds.
`int` | `getTimeRemaining()` How much time until the action finishes (in milliseconds), if it has already started.
`boolean` | `isCompleted()` Whether the action has completed.
`boolean` | `isSuccess()` Whether the action completed successfully.
`void` | `kill()` Emergency stop - end the action immediately, if it's running.

Methods inherited from class java.lang.Object
`clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

Constructor Detail

### ApproachAction

    public ApproachAction(FindRockAction scan)

  Creates a new instance of ApproachAction

Parameters:
  `scan` - A completed FindRockAction that has found the rock. If these requirements are not met, running this aciton will result in error.

Method Detail

### doAction

    public boolean doAction(Rover r)

  Description copied from interface: `Action`
  Tries to start the action. Returns whether the action started.

  Specified by:
    `doAction` in interface `Action`

### getReturnValue

    public int getReturnValue()

  Description copied from interface: `Action`
  The return value of the Action. Zero is a success. Negative implies one of this class's constants. Other values should be interpreted as appropriate.

  Specified by:
    `getReturnValue` in interface `Action`
  See Also:
    `RoverState`, `ActionConstants`

### getShortSummary

    public java.lang.String getShortSummary()

  Description copied from interface: `Action`
  Provides a shortened version of the summary returned by getSummary. For example, getSummary may return something like "Turn left and drive about 39 inches toward the red landmark," whereas getShortSummary might just return "Drive toward a landmark."

  Specified by:
    `getShortSummary` in interface `Action`

### getSummary

    public java.lang.String getSummary()

  Description copied from interface: `Action`
  Provides a textual explanation of the Action, such as "turn 90 degrees"

  Specified by:
    `getSummary` in interface `Action`

### getTime

    public int getTime()

  Description copied from interface: `Action`
  How long the action will take, in milliseconds.

  Specified by:
    `getTime` in interface `Action`

### getTimeRemaining

    public int getTimeRemaining()

  Description copied from interface: `Action`
  How much time until the action finishes (in milliseconds), if it has already started. Undefined behavior if the action has not yet begun, or has finished.

  Specified by:
    `getTimeRemaining` in interface `Action`

### isCompleted

    public boolean isCompleted()

  Description copied from interface: `Action`
  Whether the action has completed. Undefined until doAction has been called.

  Specified by:
    `isCompleted` in interface `Action`

### isSuccess

    public boolean isSuccess()

  Description copied from interface: `Action`
  Whether the action completed successfully. Undefined until isCompleted() returns true.

  Specified by:
    `isSuccess` in interface `Action`

### kill

    public void kill()

  Description copied from interface: `Action`
  Emergency stop - end the action immediately, if it's running.

  Specified by:
    `kill` in interface `Action`

### getImageUpdateTime

    public long getImageUpdateTime()

  This action does not take pictures so `getImageUpdateTime()` will always return 0.

  Specified by:
    `getImageUpdateTime` in interface `Action`
  Returns:
    the system time in milliseconds when the last image was taken or 0 if no images have been taken

### getRecentImage

    public java.awt.image.BufferedImage getRecentImage()

  This action does not take pictures so `getRecentImage()` will always return null.

  Specified by:
    `getRecentImage` in interface `Action`
  Returns:
    the most recent picture taken by the Action.

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