+++ /dev/null
-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.command.Command;
-
-public class ToggleDrivePiston extends Command {
- private DriveTrain driveTrain = Robot.getDriveTrain();
-
- /**
- * See JavaDoc comment in class for details
- *
- * @param motorVal
- * value range from -1 to 1
- */
- public ToggleDrivePiston() {
- requires(driveTrain);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- if (DriveTrain.getDriveTrain()
- .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) {
- DriveTrain.getDriveTrain().setLowGear();
- } else {
- DriveTrain.getDriveTrain().setHighGear();
- }
-
- // check to make sure that both pistons are set to the same gear. Otherwise,
- // the code must be changed
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
- end();
- }
-
- @Override
- protected boolean isFinished() {
- return false;
-
- }
-
-}