From: Harel Dor <hareldor@gmail.com>
Date: Mon, 22 Feb 2016 04:00:13 +0000 (-0800)
Subject: Add command to change active gear
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=86d7310bff2430b6963fec800ac441d4314a2c3a

Add command to change active gear
---

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index e2d82165..cb7e12d9 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,7 +1,10 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commands.driving.ChangeGear;
+
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class OI {
   public static Joystick leftJoystick;
@@ -30,6 +33,7 @@ public class OI {
   // right joystick buttons
   public static Button intakeBoulder;
   public static Button shootBoulder;
+  public static Button toggleGear;
 
   // button to change robot to the scaling mode
   public static DigitalButton toggleScaling;
@@ -38,6 +42,10 @@ public class OI {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
+    toggleGear = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
+    toggleGear.toggleWhenPressed(new ChangeGear());
+
     // passPortcullis = new DigitalButton(
     // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
     // passPortcullis.whenPressed(new PassPortcullis());
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 154796c5..5bb61f14 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -120,8 +120,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Scheduler.getInstance().add(new JoystickDrive());
-
+    Robot.driveTrain.setLowGear();
   }
 
   @Override