From 6b2fc22f2340904faee55cf5c84c57f59188f1d9 Mon Sep 17 00:00:00 2001
From: Rohan Rodrigues <rohanrodrigues19@gmail.com>
Date: Wed, 8 Mar 2017 17:10:05 -0800
Subject: [PATCH] Fix merge conflicts

---
 src/org/usfirst/frc/team3501/robot/OI.java    |  1 -
 .../commands/driving/ToggleDrivePiston.java   | 58 -------------------
 .../robot/commands/driving/ToggleGear.java    | 10 +++-
 .../team3501/robot/subsystems/DriveTrain.java | 21 ++++---
 4 files changed, 22 insertions(+), 68 deletions(-)
 delete mode 100644 src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index c2571ec..16ed17c 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -98,7 +98,6 @@ public class OI /* implements KeyListener */ {
     coastCANTalons = new JoystickButton(rightJoystick,
         Constants.OI.COAST_CANTALONS_PORT);
     coastCANTalons.whenPressed(new CoastCANTalons());
-
   }
 
   public static OI getOI() {
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
deleted file mode 100644
index ad13cc0..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
+++ /dev/null
@@ -1,58 +0,0 @@
-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.command.Command;
-
-public class ToggleDrivePiston extends Command {
-  private DriveTrain driveTrain = Robot.getDriveTrain();
-
-  /**
-   * See JavaDoc comment in class for details
-   *
-   * @param motorVal
-   *          value range from -1 to 1
-   */
-  public ToggleDrivePiston() {
-    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() {
-    if (DriveTrain.getDriveTrain()
-        .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) {
-      DriveTrain.getDriveTrain().setLowGear();
-    } else {
-      DriveTrain.getDriveTrain().setHighGear();
-    }
-
-    // check to make sure that both pistons are set to the same gear. Otherwise,
-    // the code must be changed
-  }
-
-  // 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() {
-    end();
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return false;
-
-  }
-
-}
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGear.java
index ca802e7..8fa8bc7 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGear.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleGear.java
@@ -31,9 +31,15 @@ public class ToggleGear extends Command {
     Value rightGearPistonValue = driveTrain.getRightGearPistonValue();
 
     if (leftGearPistonValue == Constants.DriveTrain.LOW_GEAR) {
-      driveTrain.setHighGear();
+      driveTrain.setHighGear(driveTrain.getLeftPiston());
     } else {
-      driveTrain.setLowGear();
+      driveTrain.setLowGear(driveTrain.getLeftPiston());
+    }
+
+    if (rightGearPistonValue == Constants.DriveTrain.LOW_GEAR) {
+      driveTrain.setHighGear(driveTrain.getRightPiston());
+    } else {
+      driveTrain.setLowGear(driveTrain.getRightPiston());
     }
 
   }
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index bad303a..10bc445 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -170,26 +170,33 @@ 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
-- 
2.30.2