Added commands for shifting gears

src/Commands/DriveShifter.cpp

@@ -0,0 +1,29 @@
+#include <Commands/DriveShifter.h>
+#include "Subsystems/OI.h"
+#include "Robot.h"
+#include "Subsystems/Drive.h"
+#include <Commands/Subsystem.h>
+
+
+DriveShifter::DriveShifter() :
+	CommandBase("DriveShifter"){
+		Requires(robot->drive);
+	}
+
+void DriveShifter::Initialize(){
+	CommandBase::Initialize();
+	robot->drive->SetLowGear();
+}
+
+bool DriveShifter::IsFinished(){
+	return false;
+}
+
+void DriveShifter::Interrupted(){
+	CommandBase::Interrupted();
+	robot->drive->SetHighGear();
+}
+
+void DriveShifter::Execute(){
+
+}

src/Commands/DriveShifter.h

@@ -0,0 +1,22 @@
+/*
+ * DriveShifter.h
+ *
+ *  Created on: Dec 28, 2015
+ *      Author: John C
+ */
+
+#ifndef SRC_SUBSYSTEMS_DRIVESHIFTER_H_
+#define SRC_SUBSYSTEMS_DRIVESHIFTER_H_
+
+#include <CommandBase.h>
+
+class DriveShifter: public CommandBase {
+public:
+	DriveShifter();
+	void Initialize() override;
+	bool IsFinished() override;
+	void Interrupted() override;
+	void Execute() override;
+};
+
+#endif /* SRC_SUBSYSTEMS_DRIVESHIFTER_H_ */

src/Robot.cpp

@@ -12,6 +12,7 @@
 #include "Commands/DriveTank.h"
 #include "Commands/DriveLowGear.h"
 #include "Commands/DriveHighGear.h"
+#include "Commands/DriveShifter.h"
 
 Robot::Robot() {
 	// define robot pointer
@@ -30,9 +31,11 @@ void Robot::RobotInit() {
 	driveCommand = new DriveTank;
 	driveLowGear = new DriveLowGear;
 	driveHighGear = new DriveHighGear;
+	driveShifter = new DriveShifter;
 
 	oi->GetDriverButton(5)->WhenPressed(driveHighGear);
 	oi->GetDriverButton(7)->WhenPressed(driveLowGear);
+	oi->GetDriverButton(8)->WhileHeld(driveShifter);
 }
 
 // disabled init implementation

src/Robot.h

@@ -13,7 +13,7 @@ class Robot: public IterativeRobot {
 
 	Drive* drive;
 	OI* oi;
-	Command *driveCommand, *driveLowGear, *driveHighGear;
+	Command *driveCommand, *driveLowGear, *driveHighGear, *driveShifter;
 
 	void RobotInit() override;
 

src/Subsystems/OI.cpp

@@ -1,14 +1,14 @@
 #include <Joystick.h>
 #include <Buttons/JoystickButton.h>
 #include "OI.h"
+#include <Buttons/JoystickButton.h>
+#include "Commands/DriveShifter.h"
 OI::OI() :
 		Subsystem("OI") {
 	driverJoystick = new Joystick(0);
-
 }
 OI::~OI() {
 	delete driverJoystick;
-
 }
 
 float OI::GetLeftAxis() {
@@ -17,7 +17,6 @@ float OI::GetLeftAxis() {
 }
 float OI::GetRightAxis() {
 	return driverJoystick->GetRawAxis(3);
-
 }
 
 float OI::GetRightTurn() {

src/Subsystems/OI.h

@@ -13,7 +13,6 @@ class OI: public Subsystem {
 	JoystickButton* GetDriverButton(uint32_t number);
 private:
 	Joystick* driverJoystick;
-
 };
 
 #endif /* SRC_SUBSYSTEMS_OI_H_ */