change package names

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / subsystems / Claw.java

package org.usfirst.frc3501.RiceCatRobot.subsystems;

import org.usfirst.frc3501.RiceCatRobot.commands.CloseClaw;
import org.usfirst.frc3501.RiceCatRobot.commands.OpenClaw;
import org.usfirst.frc3501.RiceCatRobot.robot.OI;
import org.usfirst.frc3501.RiceCatRobot.robot.Robot;
import org.usfirst.frc3501.RiceCatRobot.robot.RobotMap;

import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;

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();
                }
            }
        }
    }
}