package org.usfirst.frc.team3501.robot.commands.driving;
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+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;
* run at low gear, and vice versa
*/
public class ToggleGear extends Command {
+ DriveTrain driveTrain = Robot.getDriveTrain();
public ToggleGear() {
- requires(Robot.getDriveTrain());
-
+ 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() {
- Value gearPistonValue = Robot.getDriveTrain().getGearPistonValue();
- if (gearPistonValue == DriveTrain.LOW_GEAR) {
- Robot.getDriveTrain().setHighGear();
+ Value leftGearPistonValue = driveTrain.getLeftGearPistonValue();
+ Value rightGearPistonValue = driveTrain.getRightGearPistonValue();
+ if (leftGearPistonValue == Constants.DriveTrain.LOW_GEAR) {
+ driveTrain.setHighGear();
} else {
- Robot.getDriveTrain().setLowGear();
+ driveTrain.setLowGear();
}
}
- // Make this return true when this Command no longer needs to run execute()
@Override
protected boolean isFinished() {
- return false;
+ 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() {
}