add necessary commands/buttons

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / commands / driving / ToggleDriveGear.java

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDriveGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDriveGear.java
new file mode 100644 (file)
index 0000000..ee15ec8
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDriveGear.java
@@ -0,0 +1,51 @@
+package org.usfirst.frc.team3501.robot.commands.driving;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command toggles the gear(low or high).
+ *
+ * post-condition: if the drivetrain is running at high gear, it will be made to
+ * run at low gear, and vice versa
+ */
+public class ToggleDriveGear extends Command {
+  DriveTrain driveTrain = Robot.getDriveTrain();
+
+  public ToggleDriveGear() {
+    requires(driveTrain);
+  }
+
+  @Override
+  protected void initialize() {
+
+  }
+
+  @Override
+  protected void execute() {
+    Value leftPistonValue = driveTrain.getLeftDriveTrainPiston();
+    Value rightPistonValue = driveTrain.getRightDriveTrainPiston();
+    if (leftPistonValue == Constants.DriveTrain.REVERSE_PISTON_VALUE) {
+      driveTrain.setHighGear();
+    } else {
+      driveTrain.setLowGear();
+    }
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}