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

   1 package org.usfirst.frc.team3501.robot.commands.driving;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
   4 import org.usfirst.frc.team3501.robot.Robot;
   5
   6 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 /**
  10  * This command toggles the gear(low or high).
  11  *
  12  * post-condition: if the drivetrain is running at high gear, it will be made to
  13  * run at low gear, and vice versa
  14  */
  15 public class ToggleGear extends Command {
  16
  17   public ToggleGear() {
  18     requires(Robot.getDriveTrain());
  19
  20   }
  21
  22   // Called just before this Command runs the first time
  23   @Override
  24   protected void initialize() {
  25
  26   }
  27
  28   // Called repeatedly when this Command is scheduled to run
  29   @Override
  30   protected void execute() {
  31     Value gearPistonValue = Robot.getDriveTrain().getGearPistonValue();
  32     if (gearPistonValue == DriveTrain.LOW_GEAR) {
  33       Robot.getDriveTrain().setHighGear();
  34     } else {
  35       Robot.getDriveTrain().setLowGear();
  36     }
  37   }
  38
  39   // Make this return true when this Command no longer needs to run execute()
  40   @Override
  41   protected boolean isFinished() {
  42     return false;
  43   }
  44
  45   // Called once after isFinished returns true
  46   @Override
  47   protected void end() {
  48   }
  49
  50   // Called when another command which requires one or more of the same
  51   // subsystems is scheduled to run
  52   @Override
  53   protected void interrupted() {
  54   }
  55 }