X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FDriveTrain.java;h=de2626bed86e43a5e5fdddde5eca8ab2374f471b;hb=2a099bc6e824accc4ea0df2db2f6af666cf9aad4;hp=5e9f2bd93daaea7817f8b2951580351b1fa80a5c;hpb=d9c04720cc5bfc1cafab0c73e71dd231bbc65ff7;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5e9f2bd9..de2626be 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -8,12 +8,15 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
 public class DriveTrain extends PIDSubsystem {
+  private static double kp = 0.013, ki = 0.000015, kd = -0.002;
+  private static double gp = 0.018, gi = 0.000015, gd = 0;
   private static double pidOutput = 0;
   private static double encoderTolerance = 8.0, gyroTolerance = 5.0;
   private int DRIVE_MODE = 1;
@@ -262,6 +265,24 @@ public class DriveTrain extends PIDSubsystem {
     rearRight.set(right);
   }
 
-  private static double kp = 0.013, ki = 0.000015, kd = -0.002;
-  private static double gp = 0.018, gi = 0.000015, gd = 0;
+  public Value getLeftGearPistonValue() {
+    return leftGearPiston.get();
+  }
+
+  public Value getRightGearPistonValue() {
+    return rightGearPiston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.DriveTrain.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.DriveTrain.LOW_GEAR);
+  }
+
+  public void changeGear(DoubleSolenoid.Value gear) {
+    leftGearPiston.set(gear);
+    rightGearPiston.set(gear);
+  }
 }