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