--- /dev/null
+package org.usfirst.frc.team3501.robot.commands.driving;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class SetGear extends Command {
+ public SetGear() {
+ requires(Robot.getDriveTrain());
+ }
+
+ // 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() {
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ // 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() {
+ }
+}
import edu.wpi.first.wpilibj.ADXRS450_Gyro;
import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.command.Subsystem;
private final CANTalon frontLeft, frontRight, rearLeft, rearRight;
private final RobotDrive robotDrive;
private final Encoder leftEncoder, rightEncoder;
- private final DoubleSolenoid shifter;
+ private final DoubleSolenoid leftGearPiston, rightGearPiston;
private ADXRS450_Gyro imu;
this.imu = new ADXRS450_Gyro(Constants.DriveTrain.GYRO_PORT);
shifter = DoubleSolenoid(10, Constants.DriveTrain.SHIFTER_FORWARD,
Constants.DriveTrain.SHIFTER_REVERSE);
+ leftGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.LEFT_FORWARD, Constants.DriveTrain.LEFT_REVERSE);
+ rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+ Constants.DriveTrain.RIGHT_FORWARD, Constants.DriveTrain.RIGHT_REVERSE);
}
public static DriveTrain getDriveTrain() {
public double getZeroAngle() {
return this.gyroZero;
+ /*
+ * @return a value that is the current setpoint for the piston kReverse or
+ * KForward
+ */
+ public Value getLeftGearPistonValue() {
+ return leftGearPiston.get();
+ }
+
+ /*
+ * @return a value that is the current setppoint for the piston kReverse or
+ * kForward
+ */
+ public Value getRightGearPistonValue() {
+ return rightGearPiston.get();
+ }
+
+ /*
+ * Changes the ball shift gear assembly to high
+ */
+ public void setHighGear() {
+ changeGear(Constants.DriveTrain.HIGH_GEAR);
+ }
+
+ /*
+ * Changes the ball shift gear assembly to low
+ */
+ public void setLowGear() {
+ changeGear(Constants.DriveTrain.LOW_GEAR);
+ }
+
+ /*
+ * Changes the gear to a DoubleSolenoid.Value
+ */
+ private void changeGear(DoubleSolenoid.Value gear) {
+ leftGearPiston.set(gear);
+ rightGearPiston.set(gear);
}
@Override