Untitled

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.buttons.Button;
import edu.wpi.first.wpilibj.buttons.Trigger;
import edu.wpi.first.wpilibj.command.Command;
/**
 *
 * @author Arhowk
 * Use as a normal JoystickButton. The exception is that the whileHeld() command will
 * replace the last issued command rather than stacking all instantiated commands
 * together
 */
public class ChangeButton extends Button{
    Command runningCommand;
    buttonDummy dummy;
    GenericHID m_joystick;
    int m_buttonNumber;

    public ChangeButton(GenericHID joystick, int buttonNumber) {
        m_joystick = joystick;
        m_buttonNumber = buttonNumber;
    }

    /**
     * Gets the value of the joystick button
     * @return The value of the joystick button
     */
    public boolean get() {
        return m_joystick.getRawButton(m_buttonNumber);
    }

    public void whileHeld(final Command command){
        runningCommand = command;
        if(dummy == null){
            dummy = new buttonDummy();
            whileActive(dummy);
        }else if(command == null){
            dummy.cancel();
        }
    }
    private class buttonDummy extends Command{
        protected void initialize() {
            runningCommand.start();
        }

        // Called repeatedly when this Command is scheduled to run
        protected void execute() {

        }

        // Make this return true when this Command no longer needs to run execute()
        protected boolean isFinished() {
             return runningCommand.isCanceled();
        }

        // Called once after isFinished returns true
        protected void end() {
        }

        // Called when another command which requires one or more of the same
        // subsystems is scheduled to run
        protected void interrupted() {
            runningCommand.cancel();
        }
    }

}