public class Claw extends Subsystem {
- private DoubleSolenoid solenoid;
- public boolean toggleOn = false;
-
- public Claw() {
- solenoid = new DoubleSolenoid(RobotMap.MODULE_NUMBER,
- RobotMap.SOLENOID_FORWARD, RobotMap.SOLENOID_REVERSE);
- }
-
- public void initDefaultCommand() {
- }
-
- public void closeClaw() {
- solenoid.set(RobotMap.close);
- }
-
- public void openClaw() {
- solenoid.set(RobotMap.open);
- }
-
- public boolean isOpen() {
- return solenoid.get() == RobotMap.open;
- }
-
- public void doTriggerAction() {
- if (!Robot.claw.toggleOn) {
- if (OI.rightJoystick.getRawButton(RobotMap.TRIGGER_PORT)) {
- if (Robot.claw.isOpen()) {
- new CloseClaw().start();
- }
- } else {
- if (!Robot.claw.isOpen()) {
- new OpenClaw().start();
- }
- }
+ private DoubleSolenoid solenoid;
+ public boolean toggleOn = false;
+
+ public Claw() {
+ solenoid = new DoubleSolenoid(RobotMap.MODULE_NUMBER,
+ RobotMap.SOLENOID_FORWARD, RobotMap.SOLENOID_REVERSE);
+ }
+
+ public void initDefaultCommand() {
+ }
+
+ public void closeClaw() {
+ solenoid.set(RobotMap.close);
+ }
+
+ public void openClaw() {
+ solenoid.set(RobotMap.open);
+ }
+
+ public boolean isOpen() {
+ return solenoid.get() == RobotMap.open;
+ }
+
+ public void doTriggerAction() {
+ if (!Robot.claw.toggleOn) {
+ if (OI.rightJoystick.getRawButton(RobotMap.TRIGGER_PORT)) {
+ if (Robot.claw.isOpen()) {
+ new CloseClaw().start();
+ }
+ } else {
+ if (!Robot.claw.isOpen()) {
+ new OpenClaw().start();
}
+ }
}
+ }
}