1 package org
.usfirst
.frc3501
.RiceCatRobot
.subsystems
;
3 import org
.usfirst
.frc3501
.RiceCatRobot
.commands
.CloseClaw
;
4 import org
.usfirst
.frc3501
.RiceCatRobot
.commands
.OpenClaw
;
5 import org
.usfirst
.frc3501
.RiceCatRobot
.robot
.OI
;
6 import org
.usfirst
.frc3501
.RiceCatRobot
.robot
.Robot
;
7 import org
.usfirst
.frc3501
.RiceCatRobot
.robot
.RobotMap
;
9 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
10 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
12 public class Claw
extends Subsystem
{
14 private DoubleSolenoid solenoid
;
15 public boolean toggleOn
= false;
18 solenoid
= new DoubleSolenoid(RobotMap
.MODULE_NUMBER
,
19 RobotMap
.SOLENOID_FORWARD
, RobotMap
.SOLENOID_REVERSE
);
22 public void initDefaultCommand() {
25 public void closeClaw() {
26 solenoid
.set(RobotMap
.close
);
29 public void openClaw() {
30 solenoid
.set(RobotMap
.open
);
33 public boolean isOpen() {
34 return solenoid
.get() == RobotMap
.open
;
37 public void doTriggerAction() {
38 if (!Robot
.claw
.toggleOn
) {
39 if (OI
.rightJoystick
.getRawButton(RobotMap
.TRIGGER_PORT
)) {
40 if (Robot
.claw
.isOpen()) {
41 new CloseClaw().start();
44 if (!Robot
.claw
.isOpen()) {
45 new OpenClaw().start();