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

   1 package org.usfirst.frc.team3501.robot.commands.shooter;
   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.Shooter;
   6
   7 import edu.wpi.first.wpilibj.command.Command;
   8
   9 public class ToggleIndexerPiston extends Command {
  10   private Shooter shooter = Robot.getShooter();
  11
  12   /**
  13    * See JavaDoc comment in class for details
  14    *
  15    * @param motorVal
  16    *          value range from -1 to 1
  17    */
  18   public ToggleIndexerPiston() {
  19     requires(shooter);
  20   }
  21
  22   // Called just before this Command runs the first time
  23   @Override
  24   protected void initialize() {
  25   }
  26
  27   // Called repeatedly when this Command is scheduled to run
  28   @Override
  29   protected void execute() {
  30     if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
  31       Shooter.getShooter().setHighGear();
  32     } else {
  33       Shooter.getShooter().setLowGear();
  34     }
  35   }
  36
  37   // Called once after isFinished returns true
  38   @Override
  39   protected void end() {
  40   }
  41
  42   // Called when another command which requires one or more of the same
  43   // subsystems is scheduled to run
  44   @Override
  45   protected void interrupted() {
  46     end();
  47   }
  48
  49   @Override
  50   protected boolean isFinished() {
  51     return false;
  52
  53   }
  54
  55 }