mirror of
https://github.com/wpilibsuite/allwpilib
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33 lines
912 B
C++
33 lines
912 B
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Buttons/ToggleButtonScheduler.h"
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#include "Buttons/Button.h"
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#include "Commands/Command.h"
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ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger *button,
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Command *orders) :
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ButtonScheduler(last, button, orders) {
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pressedLast = m_button->Grab();
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}
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void ToggleButtonScheduler::Execute() {
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if (m_button->Grab()) {
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if (!pressedLast) {
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pressedLast = true;
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if (m_command->IsRunning()) {
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m_command->Cancel();
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} else {
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m_command->Start();
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}
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}
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} else {
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pressedLast = false;
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}
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}
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