--- /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;
+
+ }
+
+}