[kylelanman]

While I would be interested in a ToggleButton type that provides this functionality we found the following much easier.

Example of how our shooter works.

We use the following pattern for structuring our subsystems.

void raiseShooter();
void lowerShooter();
bool isRaised();

Then we have 3 commands.

RaiseShooterCommand:

void Execute() {
        shooter->raiseShooter();
}

LowerShooterCommand:

void Execute() {
        shooter->lowerShooter();
}

ToggleShooterCommand:

void Execute() {
    if (shooter->isRaised())
        shooter->lowerShooter();
    else
        shooter->raiseShooter();
}

The controls use the ToggleShooterCommand. Any command groups for sequences or auton use the explicit RaiseShooterCommand and LowerShooterCommand.