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