diff --git a/src/org/usfirst/frc/team2059/robot/OI.java b/src/org/usfirst/frc/team2059/robot/OI.java index 2ab7d56..da8dc39 100644 --- a/src/org/usfirst/frc/team2059/robot/OI.java +++ b/src/org/usfirst/frc/team2059/robot/OI.java @@ -8,31 +8,31 @@ import org.usfirst.frc.team2059.robot.commands.ExampleCommand; * 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()); + //// 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 index 817780d..4005a90 100644 --- a/src/org/usfirst/frc/team2059/robot/Robot.java +++ b/src/org/usfirst/frc/team2059/robot/Robot.java @@ -19,90 +19,94 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; */ public class Robot extends IterativeRobot { - public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); - public static OI oi; + public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem(); + public static OI oi; - Command autonomousCommand; - SendableChooser chooser; + 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()); + /** + * 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(){ + SmartDashboard.putData("Auto mode", chooser); + } - } - - public void disabledPeriodic() { - Scheduler.getInstance().run(); - } + /** + * 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() { - /** - * 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 disabledPeriodic() { + 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 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(); - /** - * This function is called periodically during operator control - */ - public void teleopPeriodic() { - Scheduler.getInstance().run(); + /* 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 test mode - */ - public void testPeriodic() { - LiveWindow.run(); + } + + /** + * 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 index 9ec425e..2fab3ee 100644 --- a/src/org/usfirst/frc/team2059/robot/RobotMap.java +++ b/src/org/usfirst/frc/team2059/robot/RobotMap.java @@ -1,37 +1,37 @@ package org.usfirst.frc.team2059.robot; public class RobotMap { - //Drive - public static int driveLeftMotorOne = 1; - public static int driveLeftMotorTwo = 2; - public static int driveRightMotorOne = 1; - public static int driveRightMotorTwo = 2; - public static int driveRightEncoder = 0; - public static int driveLeftEncoder = 1; + //Drive + public static int driveLeftMotorOne = 1; + public static int driveLeftMotorTwo = 2; + public static int driveRightMotorOne = 1; + 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; + //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; + //Shooter + public static int shooterLeftMotor = 7; + public static int shooterRightMotor = 8; - //Pneumatics - public static int pcmID = 31; - public static int shooterSolenoidOne = 0; - public static int shooterSolenoidTwo = 1; - public static int portcullisSolenoidOne = 2; - public static int portcullisSolenoidTwo = 3; - public static int armStopSolenoidOne = 4; - public static int armStopSolenoidTwo = 5; + //Pneumatics + public static int pcmID = 31; + public static int shooterSolenoidOne = 0; + public static int shooterSolenoidTwo = 1; + public static int portcullisSolenoidOne = 2; + 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; + //Misc + public static int mainArmPresetCollect = 0; + public static int mainArmPresetTraverse = 5; + public static int mainArmPresetCloseShot = 95; + public static int mainArmPresetFarShot = 85; } diff --git a/src/org/usfirst/frc/team2059/robot/commands/Drive.java b/src/org/usfirst/frc/team2059/robot/commands/Drive.java index 1207c09..8f50089 100644 --- a/src/org/usfirst/frc/team2059/robot/commands/Drive.java +++ b/src/org/usfirst/frc/team2059/robot/commands/Drive.java @@ -6,28 +6,28 @@ import edu.wpi.first.wpilibj.command.Command; */ public class Drive extends Command { - public Drive() { - } + public Drive() { + } - // Called just before this Command runs the first time - protected void initialize() { - } + // Called just before this Command runs the first time + protected void initialize() { + } - // Called repeatedly when this Command is scheduled to run - protected void execute() { - } + // 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; - } + // 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 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() { - } + // 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/commands/ExampleCommand.java b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java index 87dc288..3895062 100644 --- a/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java +++ b/src/org/usfirst/frc/team2059/robot/commands/ExampleCommand.java @@ -10,30 +10,30 @@ import org.usfirst.frc.team2059.robot.Robot; */ public class ExampleCommand extends Command { - public ExampleCommand() { - // Use requires() here to declare subsystem dependencies - requires(Robot.exampleSubsystem); - } + 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 just before this Command runs the first time + protected void initialize() { + } - // Called repeatedly when this Command is scheduled to run - protected void execute() { - } + // 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; - } + // 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 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() { - } + // 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/Drivebase.java b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java index d4d21e8..a86db3b 100644 --- a/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java +++ b/src/org/usfirst/frc/team2059/robot/subsystems/Drivebase.java @@ -8,20 +8,20 @@ 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); + 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 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)); - rightMotorOne.set(y+(x+z)); - rightMotorTwo.set(y+(x+z)); - } + public void driveArcade(double x, double y, double z, double sensitivity) { + leftMotorOne.set(-y + (x + z)); + leftMotorTwo.set(-y + (x + z)); + rightMotorOne.set(y + (x + z)); + rightMotorTwo.set(y + (x + z)); + } } diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java index a0077b1..73747ca 100644 --- a/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java +++ b/src/org/usfirst/frc/team2059/robot/subsystems/ExampleSubsystem.java @@ -7,13 +7,13 @@ 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()); - } + // 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()); + } }