X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FChangeGear.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fdriving%2FChangeGear.java;h=3f613dc9d65345c8482021dd1f9b378a653cab80;hp=0000000000000000000000000000000000000000;hb=13eda6855c76fed9ed693e08b62a0424b92c2c12;hpb=ee82dd56da8889e008eb1a09aa8b8e016a59fd72

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ChangeGear.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ChangeGear.java
new file mode 100644
index 00000000..3f613dc9
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ChangeGear.java
@@ -0,0 +1,45 @@
+package org.usfirst.frc.team3501.robot.commands.driving;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ChangeGear extends Command {
+
+  public ChangeGear() {
+    // Doesn't require drivetrain because change can be made while robot is
+    // driving
+  }
+
+  @Override
+  protected void initialize() {
+    Value gear = Robot.driveTrain.getLeftGearPistonValue(); // Gears are assumed
+                                                            // to be the same
+    Value opposite = (gear == Constants.DriveTrain.HIGH_GEAR) ? Constants.DriveTrain.LOW_GEAR
+        : Constants.DriveTrain.HIGH_GEAR;
+    Robot.driveTrain.changeGear(opposite);
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+    end();
+  }
+}