| 1 | package org.usfirst.frc3501.RiceCatRobot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc3501.RiceCatRobot.OI; |
| 4 | import org.usfirst.frc3501.RiceCatRobot.Robot; |
| 5 | import org.usfirst.frc3501.RiceCatRobot.RobotMap; |
| 6 | import org.usfirst.frc3501.RiceCatRobot.commands.CloseClaw; |
| 7 | import org.usfirst.frc3501.RiceCatRobot.commands.OpenClaw; |
| 8 | |
| 9 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 10 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 11 | |
| 12 | public class Claw extends Subsystem { |
| 13 | |
| 14 | private DoubleSolenoid solenoid; |
| 15 | public boolean toggleOn = false; |
| 16 | |
| 17 | public Claw() { |
| 18 | solenoid = new DoubleSolenoid(RobotMap.MODULE_NUMBER, |
| 19 | RobotMap.SOLENOID_FORWARD, RobotMap.SOLENOID_REVERSE); |
| 20 | } |
| 21 | |
| 22 | public void initDefaultCommand() { |
| 23 | } |
| 24 | |
| 25 | public void closeClaw() { |
| 26 | solenoid.set(RobotMap.close); |
| 27 | } |
| 28 | |
| 29 | public void openClaw() { |
| 30 | solenoid.set(RobotMap.open); |
| 31 | } |
| 32 | |
| 33 | public boolean isOpen() { |
| 34 | return solenoid.get() == RobotMap.open; |
| 35 | } |
| 36 | |
| 37 | public void doTriggerAction() { |
| 38 | if (!Robot.claw.toggleOn) { |
| 39 | if (OI.rightJoystick.getRawButton(RobotMap.TRIGGER_PORT)) { |
| 40 | if (Robot.claw.isOpen()) { |
| 41 | new CloseClaw().start(); |
| 42 | } |
| 43 | } else { |
| 44 | if (!Robot.claw.isOpen()) { |
| 45 | new OpenClaw().start(); |
| 46 | } |
| 47 | } |
| 48 | } |
| 49 | } |
| 50 | } |