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49b8e933 RR |
1 | package org.usfirst.frc.team3501.robot.commands.driving; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | import org.usfirst.frc.team3501.robot.Robot; | |
5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; | |
6 | import edu.wpi.first.wpilibj.command.Command; | |
7 | ||
8 | public class ToggleDrivePiston extends Command { | |
9 | private DriveTrain driveTrain = Robot.getDriveTrain(); | |
10 | ||
11 | /** | |
12 | * See JavaDoc comment in class for details | |
13 | * | |
14 | * @param motorVal | |
15 | * value range from -1 to 1 | |
16 | */ | |
17 | public ToggleDrivePiston() { | |
18 | requires(driveTrain); | |
19 | } | |
20 | ||
21 | // Called just before this Command runs the first time | |
22 | @Override | |
23 | protected void initialize() { | |
24 | } | |
25 | ||
26 | // Called repeatedly when this Command is scheduled to run | |
27 | @Override | |
28 | protected void execute() { | |
29 | if (DriveTrain.getDriveTrain() | |
30 | .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) { | |
31 | DriveTrain.getDriveTrain().setLowGear(); | |
32 | } else { | |
33 | DriveTrain.getDriveTrain().setHighGear(); | |
34 | } | |
35 | ||
36 | // check to make sure that both pistons are set to the same gear. Otherwise, | |
37 | // the code must be changed | |
38 | } | |
39 | ||
40 | // Called once after isFinished returns true | |
41 | @Override | |
42 | protected void end() { | |
43 | } | |
44 | ||
45 | // Called when another command which requires one or more of the same | |
46 | // subsystems is scheduled to run | |
47 | @Override | |
48 | protected void interrupted() { | |
49 | end(); | |
50 | } | |
51 | ||
52 | @Override | |
53 | protected boolean isFinished() { | |
54 | return false; | |
55 | ||
56 | } | |
57 | ||
58 | } |