X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FToggleDrivePiston.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FToggleDrivePiston.java;h=ad13cc0084e38bb7f23284c4660850a9bea752e9;hb=fe04fc8e547ee347079730ca38e1a529f870b00c;hp=0000000000000000000000000000000000000000;hpb=43af141efff2ef4cb2a844b2c1ad36251bd4985f;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
new file mode 100644
index 0000000..ad13cc0
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
@@ -0,0 +1,58 @@
+package org.usfirst.frc.team3501.robot.commands.driving;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ToggleDrivePiston extends Command {
+  private DriveTrain driveTrain = Robot.getDriveTrain();
+
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   */
+  public ToggleDrivePiston() {
+    requires(driveTrain);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if (DriveTrain.getDriveTrain()
+        .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) {
+      DriveTrain.getDriveTrain().setLowGear();
+    } else {
+      DriveTrain.getDriveTrain().setHighGear();
+    }
+
+    // check to make sure that both pistons are set to the same gear. Otherwise,
+    // the code must be changed
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+
+  }
+
+}