| 1 | package org.usfirst.frc.team3501.robot.commands.driving; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | import org.usfirst.frc.team3501.robot.Robot; |
| 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
| 6 | import edu.wpi.first.wpilibj.command.Command; |
| 7 | |
| 8 | public class ToggleDrivePiston extends Command { |
| 9 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
| 10 | |
| 11 | /** |
| 12 | * See JavaDoc comment in class for details |
| 13 | * |
| 14 | * @param motorVal |
| 15 | * value range from -1 to 1 |
| 16 | */ |
| 17 | public ToggleDrivePiston() { |
| 18 | requires(driveTrain); |
| 19 | } |
| 20 | |
| 21 | // Called just before this Command runs the first time |
| 22 | @Override |
| 23 | protected void initialize() { |
| 24 | } |
| 25 | |
| 26 | // Called repeatedly when this Command is scheduled to run |
| 27 | @Override |
| 28 | protected void execute() { |
| 29 | if (DriveTrain.getDriveTrain() |
| 30 | .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) { |
| 31 | DriveTrain.getDriveTrain().setLowGear(); |
| 32 | } else { |
| 33 | DriveTrain.getDriveTrain().setHighGear(); |
| 34 | } |
| 35 | |
| 36 | // check to make sure that both pistons are set to the same gear. Otherwise, |
| 37 | // the code must be changed |
| 38 | } |
| 39 | |
| 40 | // Called once after isFinished returns true |
| 41 | @Override |
| 42 | protected void end() { |
| 43 | } |
| 44 | |
| 45 | // Called when another command which requires one or more of the same |
| 46 | // subsystems is scheduled to run |
| 47 | @Override |
| 48 | protected void interrupted() { |
| 49 | end(); |
| 50 | } |
| 51 | |
| 52 | @Override |
| 53 | protected boolean isFinished() { |
| 54 | return false; |
| 55 | |
| 56 | } |
| 57 | |
| 58 | } |