From 300dfaafc923685c47c3de4f0033db3bc4581165 Mon Sep 17 00:00:00 2001
From: Austen Adler <stonewareslord@gmail.com>
Date: Sat, 17 Jan 2015 12:55:51 -0500
Subject: [PATCH] Added default command for drivetrain

---
 src/Commands/Collect.cpp      |  2 +-
 src/Commands/Collect.h        |  4 ++--
 src/Commands/Drive.cpp        | 16 ++++++++++++++++
 src/Commands/Drive.h          | 16 ++++++++++++++++
 src/Commands/Eject.cpp        |  5 +++--
 src/Commands/Eject.h          |  4 ++--
 src/Commands/Lower.cpp        |  2 +-
 src/Commands/Lower.h          |  4 ++--
 src/Commands/Raise.h          |  4 ++--
 src/Subsystems/Drivetrain.cpp |  2 ++
 10 files changed, 47 insertions(+), 12 deletions(-)
 create mode 100644 src/Commands/Drive.cpp
 create mode 100644 src/Commands/Drive.h

diff --git a/src/Commands/Collect.cpp b/src/Commands/Collect.cpp
index 2ed8766..e863ff3 100644
--- a/src/Commands/Collect.cpp
+++ b/src/Commands/Collect.cpp
@@ -1,5 +1,5 @@
 #include "Collect.h"
-Collect::Collect(){
+Collect::Collect() : Command("Collect"){
 }
 void Collect::Initialize(){
 }
diff --git a/src/Commands/Collect.h b/src/Commands/Collect.h
index 9851adc..a9dd24d 100644
--- a/src/Commands/Collect.h
+++ b/src/Commands/Collect.h
@@ -1,10 +1,10 @@
 #ifndef COLLECT_H
 #define COLLECT_H
 
-#include "../CommandBase.h"
+#include "Commands/Command.h"
 #include "WPILib.h"
 
-class Collect: public CommandBase{
+class Collect: public Command{
   public:
     Collect();
     void Initialize();
diff --git a/src/Commands/Drive.cpp b/src/Commands/Drive.cpp
new file mode 100644
index 0000000..05ad2d1
--- /dev/null
+++ b/src/Commands/Drive.cpp
@@ -0,0 +1,16 @@
+#include "Drive.h"
+#include "../DentRobot.h"
+Drive::Drive() : Command("Drive"){
+}
+void Drive::Initialize(){
+}
+void Drive::Execute(){
+  DentRobot::drivetrain->DriveMecanum(DentRobot::oi->GetLeftStick()->GetRawAxis(2), DentRobot::oi->GetLeftStick()->GetRawAxis(1), DentRobot::oi->GetLeftStick()->GetRawAxis(0));
+}
+bool Drive::IsFinished(){
+  return false;
+}
+void Drive::End(){
+}
+void Drive::Interrupted(){
+}
diff --git a/src/Commands/Drive.h b/src/Commands/Drive.h
new file mode 100644
index 0000000..8254d17
--- /dev/null
+++ b/src/Commands/Drive.h
@@ -0,0 +1,16 @@
+#ifndef DRIVE_H
+#define DRIVE_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+class Drive: public Command{
+  public:
+    Drive();
+    void Initialize();
+    void Execute();
+    bool IsFinished();
+    void End();
+    void Interrupted();
+};
+#endif
diff --git a/src/Commands/Eject.cpp b/src/Commands/Eject.cpp
index 98fdf0d..0e72eea 100644
--- a/src/Commands/Eject.cpp
+++ b/src/Commands/Eject.cpp
@@ -1,11 +1,12 @@
 #include "Eject.h"
 #include "../DentRobot.h"
-Eject::Eject(){
+Eject::Eject() : Command("Eject"){
+  Requires(DentRobot::collector);
 }
 void Eject::Initialize(){
 }
 void Eject::Execute(){
-  DentRobot::collector->Set(oi->GetLeftStick()->GetThrottle());
+  DentRobot::collector->Set(DentRobot::oi->GetLeftStick()->GetThrottle());
 }
 bool Eject::IsFinished(){
   return false;
diff --git a/src/Commands/Eject.h b/src/Commands/Eject.h
index 8124c8c..8793be9 100644
--- a/src/Commands/Eject.h
+++ b/src/Commands/Eject.h
@@ -1,10 +1,10 @@
 #ifndef EJECT_H
 #define EJECT_H
 
-#include "../CommandBase.h"
+#include "Commands/Command.h"
 #include "WPILib.h"
 
-class Eject: public CommandBase{
+class Eject: public Command{
   public:
     Eject();
     void Initialize();
diff --git a/src/Commands/Lower.cpp b/src/Commands/Lower.cpp
index 8422fb1..d16cd09 100644
--- a/src/Commands/Lower.cpp
+++ b/src/Commands/Lower.cpp
@@ -1,5 +1,5 @@
 #include "Lower.h"
-Lower::Lower(){
+Lower::Lower() : Command("Lower"){
 }
 void Lower::Initialize(){
 }
diff --git a/src/Commands/Lower.h b/src/Commands/Lower.h
index 5a58de1..68be397 100644
--- a/src/Commands/Lower.h
+++ b/src/Commands/Lower.h
@@ -1,10 +1,10 @@
 #ifndef LOWER_H
 #define LOWER_H
 
-#include "../CommandBase.h"
+#include "Commands/Command.h"
 #include "WPILib.h"
 
-class Lower: public CommandBase{
+class Lower: public Command{
   public:
     Lower();
     void Initialize();
diff --git a/src/Commands/Raise.h b/src/Commands/Raise.h
index 579ad22..8960dd8 100644
--- a/src/Commands/Raise.h
+++ b/src/Commands/Raise.h
@@ -1,10 +1,10 @@
 #ifndef RAISE_H
 #define RAISE_H
 
-#include "../CommandBase.h"
+#include "Commands/Command.h"
 #include "WPILib.h"
 
-class Raise: public CommandBase{
+class Raise: public Command{
   public:
     Raise();
     void Initialize();
diff --git a/src/Subsystems/Drivetrain.cpp b/src/Subsystems/Drivetrain.cpp
index da53fde..be9878c 100644
--- a/src/Subsystems/Drivetrain.cpp
+++ b/src/Subsystems/Drivetrain.cpp
@@ -1,5 +1,6 @@
 #include "Drivetrain.h"
 #include "../RobotMap.h"
+#include "../Commands/Drive.h"
 
 Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
   frontLeft=new Talon(0);
@@ -9,6 +10,7 @@ Drivetrain::Drivetrain() : Subsystem("Drivetrain"){
   drive=new RobotDrive(frontLeft, frontRight, backLeft, backRight);
 }
 void Drivetrain::InitDefaultCommand(){
+  SetDefaultCommand(new Drive());
 }
 void Drivetrain::DriveMecanum(float x, float y, float rotation){
   drive->MecanumDrive_Cartesian(x, y, rotation);