Add command group for ToggleWinch

[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 f7c35a9108cdf161ac0c3597bf85ca350e63073d..7463b8685faa504319777e830231c066b8088154 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -32,6 +32,9 @@ public class DriveTrain extends Subsystem {
 
   private ADXRS450_Gyro imu;
 
+  private boolean isClimbing;
+  private static double CLIMBER_SPEED;;
+
   private DriveTrain() {
     // MOTOR CONTROLLERS
     frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
@@ -60,6 +63,8 @@ public class DriveTrain extends Subsystem {
     rightGearPiston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_FORWARD,
         Constants.DriveTrain.RIGHT_GEAR_PISTON_REVERSE);
+
+    CLIMBER_SPEED = Constants.DriveTrain.CLIMBER_SPEED;
   }
 
   public static DriveTrain getDriveTrain() {
@@ -76,6 +81,7 @@ public class DriveTrain extends Subsystem {
 
     frontRight.set(-right);
     rearRight.set(-right);
+    this.isClimbing = true;
   }
 
   public void joystickDrive(final double thrust, final double twist) {
@@ -84,6 +90,7 @@ public class DriveTrain extends Subsystem {
 
   public void stop() {
     setMotorValues(0, 0);
+    this.isClimbing = false;
   }
 
   public double getLeftMotorVal() {
@@ -183,4 +190,16 @@ public class DriveTrain extends Subsystem {
     setDefaultCommand(new JoystickDrive());
   }
 
+  public boolean isClimbing() {
+    return this.isClimbing;
+  }
+
+  public void setClimbing(boolean isClimbing) {
+    this.isClimbing = isClimbing;
+  }
+
+  public double getClimbingSpeed() {
+    return this.CLIMBER_SPEED;
+  }
+
 }