challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDriveGear.java

   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  * This command toggles the gear(low or high).
  12  *
  13  * post-condition: if the drivetrain is running at high gear, it will be made to
  14  * run at low gear, and vice versa
  15  */
  16 public class ToggleDriveGear extends Command {
  17   DriveTrain driveTrain = Robot.getDriveTrain();
  18
  19   public ToggleDriveGear() {
  20     requires(driveTrain);
  21   }
  22
  23   @Override
  24   protected void initialize() {
  25
  26   }
  27
  28   @Override
  29   protected void execute() {
  30     Value rightPistonValue = driveTrain.getRightDriveTrainPiston();
  31     if (rightPistonValue == Constants.DriveTrain.REVERSE_PISTON_VALUE) {
  32       driveTrain.setHighGear();
  33     } else {
  34       driveTrain.setLowGear();
  35     }
  36   }
  37
  38   @Override
  39   protected boolean isFinished() {
  40     return true;
  41   }
  42
  43   @Override
  44   protected void end() {
  45   }
  46
  47   @Override
  48   protected void interrupted() {
  49   }
  50 }