HeldButtonScheduler.cpp

/*----------------------------------------------------------------------------*/
/* 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/HeldButtonScheduler.h"

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

HeldButtonScheduler::HeldButtonScheduler(bool last, Button *button, Command *orders) :
        ButtonScheduler(last, button, orders)
{
}

void HeldButtonScheduler::Execute()
{
        if (m_button->Grab())
        {
                m_pressedLast = true;
                m_command->Start();
        }
        else
        {
                if (m_pressedLast)
                {
                        m_pressedLast = false;
                        m_command->Cancel();
                }
        }
}