Add ToggleIndexerPiston class

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / DriveTrain.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 32ec7b221ab237ef17747dfa46f47f8246ace31b..328209e5d82a9f87149130d4657c1938f3508d6a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -165,26 +165,33 @@ public class DriveTrain extends Subsystem {
     return rightGearPiston.get();
   }
 
+  public DoubleSolenoid getLeftPiston() {
+    return this.leftGearPiston;
+  }
+
+  public DoubleSolenoid getRightPiston() {
+    return this.rightGearPiston;
+  }
+
   /*
    * Changes the ball shift gear assembly to high
    */
-  public void setHighGear() {
-    changeGear(Constants.DriveTrain.HIGH_GEAR);
+  public void setHighGear(DoubleSolenoid p) {
+    changeGear(Constants.DriveTrain.HIGH_GEAR, p);
   }
 
   /*
    * Changes the ball shift gear assembly to low
    */
-  public void setLowGear() {
-    changeGear(Constants.DriveTrain.LOW_GEAR);
+  public void setLowGear(DoubleSolenoid p) {
+    changeGear(Constants.DriveTrain.LOW_GEAR, p);
   }
 
   /*
    * Changes the gear to a DoubleSolenoid.Value
    */
-  private void changeGear(DoubleSolenoid.Value gear) {
-    leftGearPiston.set(gear);
-    rightGearPiston.set(gear);
+  private void changeGear(DoubleSolenoid.Value gear, DoubleSolenoid piston) {
+    piston.set(gear);
   }
 
   @Override