| 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 | |
| 7 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
| 8 | import edu.wpi.first.wpilibj.command.Command; |
| 9 | |
| 10 | /** |
| 11 | * |
| 12 | */ |
| 13 | public class ToggleGearManipulatorPiston extends Command { |
| 14 | private DriveTrain driveTrain = Robot.getDriveTrain(); |
| 15 | |
| 16 | public ToggleGearManipulatorPiston() { |
| 17 | } |
| 18 | |
| 19 | @Override |
| 20 | protected void initialize() { |
| 21 | Value gearPistonValue = driveTrain.getGearManipulatorPistonValue(); |
| 22 | if (gearPistonValue == Constants.DriveTrain.REVERSE_PISTON_VALUE) { |
| 23 | driveTrain.extendGearManipulatorPiston(); |
| 24 | } else { |
| 25 | driveTrain.retractGearManipulatorPiston(); |
| 26 | } |
| 27 | } |
| 28 | |
| 29 | @Override |
| 30 | protected void execute() { |
| 31 | } |
| 32 | |
| 33 | // Make this return true when this Command no longer needs to run execute() |
| 34 | @Override |
| 35 | protected boolean isFinished() { |
| 36 | return true; |
| 37 | } |
| 38 | |
| 39 | // Called once after isFinished returns true |
| 40 | @Override |
| 41 | protected void end() { |
| 42 | } |
| 43 | |
| 44 | // Called when another command which requires one or more of the same |
| 45 | // subsystems is scheduled to run |
| 46 | @Override |
| 47 | protected void interrupted() { |
| 48 | } |
| 49 | } |