| 1 | package org.usfirst.frc.team3501.robot.commandgroups; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Robot; |
| 4 | import org.usfirst.frc.team3501.robot.commands.climber.MaintainClimbedPosition; |
| 5 | import org.usfirst.frc.team3501.robot.commands.climber.RunWinchContinuous; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.command.CommandGroup; |
| 8 | |
| 9 | public class ToggleWinch extends CommandGroup { |
| 10 | |
| 11 | public ToggleWinch() { |
| 12 | if (!Robot.getDriveTrain().isClimbing()) { |
| 13 | Robot.getDriveTrain().setClimbing(true); |
| 14 | addSequential(new RunWinchContinuous()); |
| 15 | |
| 16 | } else { |
| 17 | Robot.getDriveTrain().setClimbing(false); |
| 18 | addSequential(new MaintainClimbedPosition()); |
| 19 | } |
| 20 | } |
| 21 | |
| 22 | } |