commit e13943c3781eb99b316474ad91d8d67383d2f8c0 Author: Adam Long Date: Tue Jul 19 17:16:30 2016 +0000 initial commit diff --git a/.classpath b/.classpath new file mode 100644 index 0000000..0c0ebaf --- /dev/null +++ b/.classpath @@ -0,0 +1,7 @@ + + + + + + + diff --git a/.project b/.project new file mode 100644 index 0000000..8825d52 --- /dev/null +++ b/.project @@ -0,0 +1,18 @@ + + + ford-java + + + + + + org.eclipse.jdt.core.javabuilder + + + + + + org.eclipse.jdt.core.javanature + edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature + + diff --git a/build.properties b/build.properties new file mode 100644 index 0000000..3e0ff70 --- /dev/null +++ b/build.properties @@ -0,0 +1,6 @@ +# Project specific information +package=org.usfirst.frc.team2059.robot +robot.class=${package}.Robot +simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world +#Uncomment and point at user libraries to include them in the build. Do not put libraries in the \wpilib\java folder, this folder is completely overwritten on plugin update. +#userLibs=${user.home}/wpilib/user/lib \ No newline at end of file diff --git a/build.xml b/build.xml new file mode 100644 index 0000000..2182d37 --- /dev/null +++ b/build.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/dist/FRCUserProgram.jar b/dist/FRCUserProgram.jar new file mode 100644 index 0000000..eb27bda Binary files /dev/null and b/dist/FRCUserProgram.jar differ diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java new file mode 100644 index 0000000..2ab7d56 --- /dev/null +++ b/src/org/usfirst/frc/team2059/robot/OI.java @@ -0,0 +1,38 @@ +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. + */ +public class OI { + //// CREATING BUTTONS + // One type of button is a joystick button which is any button on a joystick. + // You create one by telling it which joystick it's on and which button + // 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()); +} + diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java new file mode 100644 index 0000000..817780d --- /dev/null +++ b/src/org/usfirst/frc/team2059/robot/Robot.java @@ -0,0 +1,108 @@ + +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; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; +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 + * documentation. If you change the name of this class or the package after + * creating this project, you must also update the manifest file in the resource + * 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. + */ + public void robotInit() { + oi = new OI(); + chooser = new SendableChooser(); + chooser.addDefault("Default Auto", new ExampleCommand()); +// 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 + * Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box + * below the Gyro + * + * You can add additional auto modes by adding additional commands to the chooser code above (like the commented example) + * or additional comparisons to the switch structure below with additional strings & commands. + */ + public void autonomousInit() { + autonomousCommand = (Command) chooser.getSelected(); + + /* String autoSelected = SmartDashboard.getString("Auto Selector", "Default"); + switch(autoSelected) { + case "My Auto": + autonomousCommand = new MyAutoCommand(); + break; + case "Default Auto": + default: + 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 + // continue until interrupted by another command, remove + // this line or comment it out. + if (autonomousCommand != null) autonomousCommand.cancel(); + } + + /** + * This function is called periodically during operator control + */ + public void teleopPeriodic() { + Scheduler.getInstance().run(); + } + + /** + * This function is called periodically during test mode + */ + public void testPeriodic() { + LiveWindow.run(); + } +} diff --git a/src/org/usfirst/frc/team2059/robot/RobotMap.java b/src/org/usfirst/frc/team2059/robot/RobotMap.java new file mode 100644 index 0000000..2e4a1ec --- /dev/null +++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java @@ -0,0 +1,18 @@ +package org.usfirst.frc.team2059.robot; +/** + * The RobotMap is a mapping from the ports sensors and actuators are wired into + * to a variable name. This provides flexibility changing wiring, makes checking + * the wiring easier and significantly reduces the number of magic numbers + * floating around. + */ +public class RobotMap { + // For example to map the left and right motors, you could define the + // following variables to use with your drivetrain subsystem. + // public static int leftMotor = 1; + // public static int rightMotor = 2; + + // If you are using multiple modules, make sure to define both the port + // number and the module. For example you with a rangefinder: + // public static int rangefinderPort = 1; + // public static int rangefinderModule = 1; +} diff --git a/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java new file mode 100644 index 0000000..87dc288 --- /dev/null +++ b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java @@ -0,0 +1,39 @@ + +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() { + } +} diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java new file mode 100644 index 0000000..a0077b1 --- /dev/null +++ b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java @@ -0,0 +1,19 @@ + +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()); + } +} +