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1 | package org.usfirst.frc.team3501.robot.commands.shooter; |
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.Shooter; | |
6 | ||
7 | import edu.wpi.first.wpilibj.command.Command; | |
8 | ||
9 | public class ToggleIndexerPiston extends Command { | |
10 | private Shooter shooter = Robot.getShooter(); | |
11 | ||
12 | /** | |
13 | * See JavaDoc comment in class for details | |
14 | * | |
15 | * @param motorVal | |
16 | * value range from -1 to 1 | |
17 | */ | |
18 | public ToggleIndexerPiston() { | |
19 | requires(shooter); | |
20 | } | |
21 | ||
22 | // Called just before this Command runs the first time | |
23 | @Override | |
24 | protected void initialize() { | |
25 | } | |
26 | ||
27 | // Called repeatedly when this Command is scheduled to run | |
28 | @Override | |
29 | protected void execute() { | |
e4082bee RR |
30 | if (shooter.getPistonValue() == Constants.Shooter.LOW_GEAR) { |
31 | shooter.setHighGear(); | |
49b8e933 | 32 | } else { |
e4082bee | 33 | shooter.setLowGear(); |
49b8e933 | 34 | } |
f2139d95 | 35 | |
49b8e933 RR |
36 | } |
37 | ||
38 | // Called once after isFinished returns true | |
39 | @Override | |
40 | protected void end() { | |
41 | } | |
42 | ||
43 | // Called when another command which requires one or more of the same | |
44 | // subsystems is scheduled to run | |
45 | @Override | |
46 | protected void interrupted() { | |
47 | end(); | |
48 | } | |
49 | ||
50 | @Override | |
51 | protected boolean isFinished() { | |
f2139d95 | 52 | return true; |
49b8e933 RR |
53 | |
54 | } | |
55 | ||
56 | } |