Wrote code for bridge balancing piston

src/edu/stuy/RobotMap.java

@@ -54,6 +54,8 @@ public class RobotMap {
     public static final int GEAR_SHIFT_HIGH = 4;
     public static final int TUSKS_SOLENOID_RETRACT = 5;
     public static final int TUSKS_SOLENOID_EXTEND = 6;
+    public static final int BRIDGE_BALANCING_EXTEND = 7;
+    public static final int BRIDGE_BALANCING_RETRACT = 8;
 
     /* VIRSYSJ */
     public static final int[] VIRSYS_OUTPUT_MAP = new int[15];

src/edu/stuy/commands/BridgePistonExtend.java

@@ -0,0 +1,32 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.stuy.commands;
+
+/**
+ *
+ * @author admin
+ */
+public class BridgePistonExtend extends CommandBase {
+    public BridgePistonExtend() {
+        requires(bridgePiston);
+    }
+
+    protected void initialize() {
+    }
+
+    protected void execute() {
+        bridgePiston.extend();
+    }
+
+    protected boolean isFinished() {
+        return bridgePiston.isExtended();
+    }
+
+    protected void end() {
+    }
+
+    protected void interrupted() {
+    }
+}

src/edu/stuy/commands/BridgePistonRetract.java

@@ -0,0 +1,33 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.stuy.commands;
+
+/**
+ *
+ * @author admin
+ */
+public class BridgePistonRetract extends CommandBase {
+    public BridgePistonRetract() {
+        requires(bridgePiston);
+    }
+
+    protected void initialize() {
+    }
+
+    protected void execute() {
+        bridgePiston.retract();
+    }
+
+    protected boolean isFinished() {
+        return !bridgePiston.isExtended();
+    }
+
+    protected void end() {
+    }
+
+    protected void interrupted() {
+    }
+
+}

src/edu/stuy/commands/CommandBase.java

@@ -25,6 +25,7 @@ public abstract class CommandBase extends Command {
     public static Acquirer acquirer;
     public static Conveyor conveyor;
     public static Camera camera;
+    public static BridgePiston bridgePiston;
 
     static {
         drivetrain = new Drivetrain();
@@ -35,6 +36,7 @@ public abstract class CommandBase extends Command {
         if (!Devmode.DEV_MODE) {
             tusks = new Tusks();
         }
+        bridgePiston = new BridgePiston();
     }
 
     public static void init() {
@@ -53,6 +55,7 @@ public static void init() {
             SmartDashboard.putData(acquirer);
             SmartDashboard.putData(conveyor);
             SmartDashboard.putData(camera);
+            SmartDashboard.putData(bridgePiston);
         }
     }
 

src/edu/stuy/subsystems/BridgePiston.java

@@ -0,0 +1,41 @@
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+package edu.stuy.subsystems;
+
+import edu.stuy.RobotMap;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ * @author admin
+ */
+public class BridgePiston extends Subsystem {
+    Solenoid PistonExtend;
+    Solenoid PistonRetract;
+
+    public BridgePiston() {
+        PistonExtend = new Solenoid(2, RobotMap.BRIDGE_BALANCING_EXTEND);
+        PistonRetract = new Solenoid(2, RobotMap.BRIDGE_BALANCING_RETRACT);
+    }
+
+    public void initDefaultCommand() {
+
+    }
+
+    public void extend() {
+        PistonExtend.set(true);
+        PistonRetract.set(false);
+    }
+
+    public void retract() {
+        PistonExtend.set(false);
+        PistonRetract.set(true);
+    }
+
+    public boolean isExtended() {
+        return PistonExtend.get();
+    }
+}