diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java index da8dc39..2bf01b0 100644 --- a/src/org/usfirst/frc/team2059/robot/OI.java +++ b/src/org/usfirst/frc/team2059/robot/OI.java @@ -1,8 +1,6 @@ package org.usfirst.frc.team2059.robot; - import edu.wpi.first.wpilibj.buttons.Button; import org.usfirst.frc.team2059.robot.commands.ExampleCommand; - /** * This class is the glue that binds the controls on the physical operator * interface to the commands and command groups that allow control of the robot. @@ -14,25 +12,20 @@ public class OI { // number it is. // Joystick stick = new Joystick(port); // Button button = new JoystickButton(stick, buttonNumber); - // There are a few additional built in buttons you can use. Additionally, // by subclassing Button you can create custom triggers and bind those to // commands the same as any other Button. - //// TRIGGERING COMMANDS WITH BUTTONS // Once you have a button, it's trivial to bind it to a button in one of // three ways: - // Start the command when the button is pressed and let it run the command // until it is finished as determined by it's isFinished method. // button.whenPressed(new ExampleCommand()); - // Run the command while the button is being held down and interrupt it once // the button is released. // button.whileHeld(new ExampleCommand()); - // Start the command when the button is released and let it run the command // until it is finished as determined by it's isFinished method. // button.whenReleased(new ExampleCommand()); } - +// vim: sw=2:ts=2:sts=2 \ No newline at end of file diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java index 4005a90..03431b5 100644 --- a/src/org/usfirst/frc/team2059/robot/Robot.java +++ b/src/org/usfirst/frc/team2059/robot/Robot.java @@ -1,6 +1,4 @@ - package org.usfirst.frc.team2059.robot; - import edu.wpi.first.wpilibj.IterativeRobot; import edu.wpi.first.wpilibj.command.Command; import edu.wpi.first.wpilibj.command.Scheduler; @@ -9,7 +7,6 @@ import org.usfirst.frc.team2059.robot.commands.ExampleCommand; import org.usfirst.frc.team2059.robot.subsystems.ExampleSubsystem; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; - /** * The VM is configured to automatically run this class, and to call the * functions corresponding to each mode, as described in the IterativeRobot @@ -18,13 +15,10 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; * directory. */ public class Robot extends IterativeRobot { - public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); public static OI oi; - Command autonomousCommand; SendableChooser chooser; - /** * This function is run when the robot is first started up and should be * used for any initialization code. @@ -36,20 +30,16 @@ public class Robot extends IterativeRobot { // chooser.addObject("My Auto", new MyAutoCommand()); SmartDashboard.putData("Auto mode", chooser); } - /** * This function is called once each time the robot enters Disabled mode. * You can use it to reset any subsystem information you want to clear when * the robot is disabled. */ public void disabledInit() { - } - public void disabledPeriodic() { Scheduler.getInstance().run(); } - /** * This autonomous (along with the chooser code above) shows how to select between different autonomous modes * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW @@ -61,7 +51,6 @@ public class Robot extends IterativeRobot { */ public void autonomousInit() { autonomousCommand = (Command) chooser.getSelected(); - /* String autoSelected = SmartDashboard.getString("Auto Selector", "Default"); switch(autoSelected) { case "My Auto": @@ -72,20 +61,17 @@ public class Robot extends IterativeRobot { autonomousCommand = new ExampleCommand(); break; } */ - // schedule the autonomous command (example) if (autonomousCommand != null) { autonomousCommand.start(); } } - /** * This function is called periodically during autonomous */ public void autonomousPeriodic() { Scheduler.getInstance().run(); } - public void teleopInit() { // This makes sure that the autonomous stops running when // teleop starts running. If you want the autonomous to @@ -95,14 +81,12 @@ public class Robot extends IterativeRobot { autonomousCommand.cancel(); } } - /** * This function is called periodically during operator control */ public void teleopPeriodic() { Scheduler.getInstance().run(); } - /** * This function is called periodically during test mode */ @@ -110,3 +94,4 @@ public class Robot extends IterativeRobot { LiveWindow.run(); } } +// vim: sw=2:ts=2:sts=2 diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java index 2fab3ee..a55102d 100644 --- a/src/org/usfirst/frc/team2059/robot/RobotMap.java +++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java @@ -1,6 +1,5 @@ package org.usfirst.frc.team2059.robot; public class RobotMap { - //Drive public static int driveLeftMotorOne = 1; public static int driveLeftMotorTwo = 2; @@ -8,18 +7,15 @@ public class RobotMap { public static int driveRightMotorTwo = 2; public static int driveRightEncoder = 0; public static int driveLeftEncoder = 1; - //Arm public static double zeroDegrees = 0.1; public static double ninetyDegrees = 0.7; public static int armPot = 0; public static int armLeftMotor = 5; public static int armRightMotor = 6; - //Shooter public static int shooterLeftMotor = 7; public static int shooterRightMotor = 8; - //Pneumatics public static int pcmID = 31; public static int shooterSolenoidOne = 0; @@ -28,10 +24,10 @@ public class RobotMap { public static int portcullisSolenoidTwo = 3; public static int armStopSolenoidOne = 4; public static int armStopSolenoidTwo = 5; - //Misc public static int mainArmPresetCollect = 0; public static int mainArmPresetTraverse = 5; public static int mainArmPresetCloseShot = 95; public static int mainArmPresetFarShot = 85; } +// vim: sw=2:ts=2:sts=2 \ No newline at end of file diff --git a/src/org/usfirst/frc/team2059/robot/commands/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/Drive.java index 8f50089..fdb1fe9 100644 --- a/src/org/usfirst/frc/team2059/robot/commands/Drive.java +++ b/src/org/usfirst/frc/team2059/robot/commands/Drive.java @@ -1,33 +1,27 @@ package org.usfirst.frc.team2059.robot.commands; - import edu.wpi.first.wpilibj.command.Command; /** * */ public class Drive extends Command { - public Drive() { } - // Called just before this Command runs the first time protected void initialize() { } - // 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 false; } - // 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() { } } +// vim: sw=2:ts=2:sts=2 \ No newline at end of file diff --git a/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java index 3895062..a5cd459 100644 --- a/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java +++ b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java @@ -1,39 +1,30 @@ - package org.usfirst.frc.team2059.robot.commands; - import edu.wpi.first.wpilibj.command.Command; - import org.usfirst.frc.team2059.robot.Robot; - /** * */ public class ExampleCommand extends Command { - public ExampleCommand() { // Use requires() here to declare subsystem dependencies requires(Robot.exampleSubsystem); } - // Called just before this Command runs the first time protected void initialize() { } - // 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 false; } - // 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() { } } +// vim: sw=2:ts=2:sts=2 \ No newline at end of file diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java index a86db3b..d5964d3 100644 --- a/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java +++ b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java @@ -1,22 +1,16 @@ package org.usfirst.frc.team2059.robot.subsystems; - import org.usfirst.frc.team2059.robot.RobotMap; import org.usfirst.frc.team2059.robot.commands.Drive; - import edu.wpi.first.wpilibj.command.Subsystem; import edu.wpi.first.wpilibj.CANTalon; - public class Drivebase extends Subsystem { - CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne); CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo); CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne); CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne); - public void initDefaultCommand() { setDefaultCommand(new Drive()); } - public void driveArcade(double x, double y, double z, double sensitivity) { leftMotorOne.set(-y + (x + z)); leftMotorTwo.set(-y + (x + z)); @@ -24,4 +18,4 @@ public class Drivebase extends Subsystem { rightMotorTwo.set(y + (x + z)); } } - +// vim: sw=2:ts=2:sts=2 \ No newline at end of file diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java index 73747ca..8c9000e 100644 --- a/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java +++ b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java @@ -1,19 +1,14 @@ - package org.usfirst.frc.team2059.robot.subsystems; - import edu.wpi.first.wpilibj.command.Subsystem; - /** * */ public class ExampleSubsystem extends Subsystem { - // Put methods for controlling this subsystem // here. Call these from Commands. - public void initDefaultCommand() { // Set the default command for a subsystem here. //setDefaultCommand(new MySpecialCommand()); } } - +// vim: sw=2:ts=2:sts=2 \ No newline at end of file