/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2011. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "Buttons/ToggleButtonScheduler.h"

#include "Buttons/Button.h"
#include "Commands/Command.h"

ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger *button,
		Command *orders) :
	ButtonScheduler(last, button, orders) {
	pressedLast = m_button->Grab();
}

void ToggleButtonScheduler::Execute() {
	if (m_button->Grab()) {
		if (!pressedLast) {
			pressedLast = true;
			if (m_command->IsRunning()) {
				m_command->Cancel();
			} else {
				m_command->Start();
			}
		}
	} else {
		pressedLast = false;
	}
}