add compressor inhibitor

1 files changed, 7 insertions, 0 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index 533cf9d..23e5c34 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -29,6 +29,7 @@
  */
 package org.usfirst.frc.team4272.robot2017;
 
+import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Encoder;
@@ -70,6 +71,8 @@ public class HwRobot {
 	private final DoubleSolenoid
 		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
 		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
+	private final Compressor
+		compressor = new Compressor();
 	// Sensors/info should be public ///////////////////////////////////////
 	public final Encoder   lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false);
 	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
@@ -116,6 +119,10 @@ public class HwRobot {
 			minBatt = batt;
 		SmartDashboard.putNumber("minBatt", minBatt);
 
+		if (c.compressorEnabled != compressor.getClosedLoopControl())
+			compressor.setClosedLoopControl(c.compressorEnabled);
+
+		SmartDashboard.putBoolean("compressorOn", compressor.enabled());
 		SmartDashboard.putBoolean("highGear", c.highGear);
 		SmartDashboard.putBoolean("gedOut", c.gedOut);
 	}