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ToggleButtonScheduler.cpp
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2011. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5 /*----------------------------------------------------------------------------*/
6 
7 #include "Buttons/ToggleButtonScheduler.h"
8 
9 #include "Buttons/Button.h"
10 #include "Commands/Command.h"
11 
12 ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger *button,
13  Command *orders) :
14  ButtonScheduler(last, button, orders) {
15  pressedLast = m_button->Grab();
16 }
17 
18 void ToggleButtonScheduler::Execute() {
19  if (m_button->Grab()) {
20  if (!pressedLast) {
21  pressedLast = true;
22  if (m_command->IsRunning()) {
23  m_command->Cancel();
24  } else {
25  m_command->Start();
26  }
27  }
28  } else {
29  pressedLast = false;
30  }
31 }
32 
void Start()
Definition: Command.cpp:186
void Cancel()
Definition: Command.cpp:353
bool IsRunning()
Definition: Command.cpp:340

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