1 package org
.usfirst
.frc
.team3501
.robot
.commands
.driving
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.Robot
;
6 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
.Value
;
7 import edu
.wpi
.first
.wpilibj
.command
.Command
;
12 public class ChangeGear
extends Command
{
15 // Doesn't require drivetrain because change can be made while robot is
20 protected void initialize() {
21 Value gear
= Robot
.driveTrain
.getLeftGearPistonValue(); // Gears are assumed
23 Value opposite
= (gear
== Constants
.DriveTrain
.HIGH_GEAR
) ? Constants
.DriveTrain
.LOW_GEAR
24 : Constants
.DriveTrain
.HIGH_GEAR
;
25 Robot
.driveTrain
.changeGear(opposite
);
29 protected void execute() {
33 protected boolean isFinished() {
38 protected void end() {
42 protected void interrupted() {