add necessary commands/buttons

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

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGearManipulatorPiston.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGearManipulatorPiston.java
new file mode 100644 (file)
index 0000000..eed7f14
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGearManipulatorPiston.java
@@ -0,0 +1,49 @@
+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;
+
+/**
+ *
+ */
+public class ToggleGearManipulatorPiston extends Command {
+  private DriveTrain driveTrain = Robot.getDriveTrain();
+
+  public ToggleGearManipulatorPiston() {
+  }
+
+  @Override
+  protected void initialize() {
+    Value gearPistonValue = driveTrain.getGearManipulatorPistonValue();
+    if (gearPistonValue == Constants.DriveTrain.REVERSE_PISTON_VALUE) {
+      driveTrain.extendGearManipulatorPiston();
+    } else {
+      driveTrain.retractGearManipulatorPiston();
+    }
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  // 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() {
+  }
+}