X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FToggleGearManipulatorPiston.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FToggleGearManipulatorPiston.java;h=eed7f14e29619bba9be3c723f08450d4c209693c;hp=0000000000000000000000000000000000000000;hb=fc01fb0fb74d31a0818c69d0306253deb4236c58;hpb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf

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
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() {
+  }
+}