From: Shaina Chen <shaina.sierra@gmail.com>
Date: Sun, 14 Feb 2016 01:21:03 +0000 (-0800)
Subject: add getter methods for gear piston values
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=2aea5cc24d3d2ff9edf66c5a3faf53e2c6811ca3

add getter methods for gear piston values
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index 5e9f2bd9..56d8066b 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -8,6 +8,7 @@ import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.RobotDrive;
@@ -39,7 +40,7 @@ public class DriveTrain extends PIDSubsystem {
   // Drivetrain specific constants that relate to the PID controllers
   private final static double Kp = 1.0, Ki = 0.0,
       Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
-          / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+      / (WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
 
   public DriveTrain() {
     super(kp, ki, kd);
@@ -104,6 +105,14 @@ public class DriveTrain extends PIDSubsystem {
     rightEncoder.reset();
   }
 
+  public Value getLeftGearPistonValue() {
+    return leftGearPiston.get();
+  }
+
+  public Value getRightGearPistonValue() {
+    return rightGearPiston.get();
+  }
+
   public double getRightSpeed() {
     return rightEncoder.getRate(); // in inches per second
   }