Started working on command based robot (does not work)

src/CommandBase.cpp

@@ -0,0 +1,25 @@
+#include "CommandBase.h"
+#include "Subsystems/Drivetrain.h"
+#include "Subsystems/Collector.h"
+#include "Subsystems/Elevator.h"
+#include "Commands/Drive.h"
+#include "Commands/Collect.h"
+#include "Commands/Eject.h"
+#include "Commands/Raise.h"
+#include "Commands/Lower.h"
+Drivetrain* CommandBase::drivetrain = NULL;
+Collector* CommandBase::collector = NULL;
+Elevator* CommandBase::elevator = NULL;
+OI* CommandBase::oi = NULL;
+CommandBase::CommandBase(char const *name) : Command(name) {
+}
+CommandBase::CommandBase() : Command() {
+}
+void CommandBase::init()
+{
+  drivetrain = new Drivetrain();
+  collector = new Collector();
+  elevator = new Elevator();
+  oi = new OI();
+}
+

src/CommandBase.h

@@ -0,0 +1,20 @@
+#ifndef COMMAND_BASE_H
+#define COMMAND_BASE_H
+
+#include <string>
+#include "Commands/Command.h"
+#include "Subsystems/ExampleSubsystem.h"
+#include "OI.h"
+#include "WPILib.h"
+
+class CommandBase: public Command {
+public:
+	CommandBase(char const *name);
+	CommandBase();
+	static void init();
+	static Drivetrain *drivetrain;
+	static Collector *collector;
+	static Elevator *elevator;
+	static OI *oi;
+};
+#endif

src/DentRobot.cpp

@@ -0,0 +1,39 @@
+#include "WPILib.h"
+#include "Commands/Command.h"
+#include "Commands/Drive.h"
+#include "Commands/Collect.h"
+#include "Commands/Eject.h"
+#include "Commands/Raise.h"
+#include "Commands/Lower.h"
+class DentRobot: public IterativeRobot {
+private:
+  Command *autonomousCommand = NULL;
+  LiveWindow *lw;
+  void RobotInit() {
+    CommandBase::init();
+    lw = LiveWindow::GetInstance();
+  }
+  void DisabledPeriodic() {
+    Scheduler::GetInstance()->Run();
+  }
+  void AutonomousInit() {
+    if(autonomousCommand != NULL) {
+      autonomousCommand->Start();
+    }
+  }
+  void AutonomousPeriodic() {
+    Scheduler::GetInstance()->Run();
+  }
+  void TeleopInit() {
+    if(autonomousCommand != NULL) {
+      autonomousCommand->Cancel();
+    }
+  }
+  void TeleopPeriodic() {
+    Scheduler::GetInstance()->Run();
+  }
+  void TestPeriodic() {
+    lw->Run();
+  }
+};
+START_ROBOT_CLASS(DentRobot);

src/HHBase.cpp

@@ -1,28 +0,0 @@
-#include "HHBase.h"
-#include <iostream>
-#include <fstream>
-#include <stdexcept>
-#include <map>
-HHBase::HHBase():
-  hhbot(new HHRobot()){
-    printf("Done\n");
-  }
-void HHBase::RobotInit(){
-}
-void HHBase::DisabledInit(){}
-void HHBase::AutonomousInit(){
-}
-void HHBase::TeleopInit(){
-}
-void HHBase::DisabledContinuous(){}
-void HHBase::AutonomousContinuous(){}
-void HHBase::TeleopContinuous(){}
-void HHBase::DisabledPeriodic(){}
-void HHBase::AutonomousPeriodic(){
-}
-void HHBase::TeleopPeriodic(){
-  hhbot->Handler();
-}
-void HHBase::Test(){}
-START_ROBOT_CLASS(HHBase);
-// vim: ts=2:sw=2:et

src/HHBase.h

@@ -1,26 +0,0 @@
-#ifndef __HH_BASE_H__
-#define __HH_BASE_H__
-#include <WPILib.h>
-#include <string>
-#include "HHRobot.h"
-//Because this is the first header to be included, classes need to be declared here
-class HHRobot;
-class HHBase : public IterativeRobot{
-  private:
-	HHRobot *hhbot;
-  public:
-    HHBase();
-    void RobotInit();
-    void DisabledInit();
-    void AutonomousInit();
-    void TeleopInit();
-    void DisabledContinuous();
-    void AutonomousContinuous();
-    void TeleopContinuous();
-    void DisabledPeriodic();
-    void AutonomousPeriodic();
-    void TeleopPeriodic();
-    void Test();
-};
-#endif
-// vim: ts=2:sw=2:et

src/HHRobot.cpp

@@ -1,46 +0,0 @@
-#include "HHRobot.h"
-#include "HHBase.h"
-HHRobot::HHRobot():
-  hhdrive(new RobotDrive(2,0,3,1)),
-  gyro(new Gyro(1)),
-  collector(new DentCollector(4, 5, 6, 7)),
-  driveStick(new Extreme3dPro(0)){
-    hhdrive->SetExpiration(0.1);
-    hhdrive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
-    hhdrive->SetInvertedMotor(RobotDrive::kRearLeftMotor,true);
-  }
-void HHRobot::Init(){
-  printf("Initing\n");
-  printf("Code Version: %f\n",0000.1);
-  gyro->Reset();
-}
-//Main function used to handle periodic tasks on the robot
-void HHRobot::Handler(){
-  const float Kp = 0.3;
-  if(driveStick->GetJoystickButton(1)==1){
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), 0, driveStick->GetJoystickAxis("x"));
-  }else if(driveStick->GetJoystickButton(2)==1){
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), 0);
-  }else if(driveStick->GetJoystickButton(3)==1){
-    hhdrive->Drive(driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("y")*Kp*-gyro->GetAngle());
-  }else{
-    hhdrive->MecanumDrive_Cartesian(driveStick->GetJoystickAxis("z"), driveStick->GetJoystickAxis("y"), driveStick->GetJoystickAxis("x"));
-  }
-  if(driveStick->GetJoystickButton(11)==1){
-    collector->Collect(driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(12)==1){
-    collector->Collect(-driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(9)==1){
-    collector->Raise(driveStick->GetThrottle());
-  }else if(driveStick->GetJoystickButton(10)==1){
-    collector->Raise(-driveStick->GetThrottle());
-  }else{
-    collector->Rest();
-  }
-  SmartDashboard::PutNumber("hambone1", driveStick->GetThrottle());
-  SmartDashboard::PutNumber("hambone2", driveStick->GetJoystickAxis("joystick"));
-  SmartDashboard::PutNumber("hambone3", driveStick->GetRawJoystickAxis(3));
-  printf("hambone2: %f", driveStick->GetThrottle());
-  Wait(0.005);
-}
-// vim: ts=2:sw=2:et

src/HHRobot.h

@@ -1,19 +0,0 @@
-#ifndef __ROBOT_H__
-#define __ROBOT_H__
-#include <WPILib.h>
-#include "HHBase.h"
-#include "classes/Collector.h"
-#include "hhlib/input/controller/Joystick.h"
-class HHRobot{
-  private:
-    RobotDrive *hhdrive;
-    Gyro *gyro;
-    DentCollector *collector;
-    Extreme3dPro *driveStick;
-  public:
-    HHRobot();
-    void Init();
-    void Handler();
-};
-#endif
-// vim: ts=2:sw=2:et

src/OI.cpp

@@ -0,0 +1,4 @@
+#include "OI.h"
+
+OI::OI() {
+}

src/OI.h

@@ -0,0 +1,12 @@
+#ifndef OI_H
+#define OI_H
+
+#include "WPILib.h"
+
+class OI
+{
+private:
+public:
+	OI();
+};
+#endif

src/RobotMap.h

@@ -0,0 +1,6 @@
+#ifndef ROBOTMAP_H
+#define ROBOTMAP_H
+
+#include "WPILib.h"
+
+#endif

src/Subsystems/Collector.cpp

@@ -0,0 +1,7 @@
+#include "ExampleSubsystem.h"
+#include "../RobotMap.h"
+
+ExampleSubsystem::ExampleSubsystem() : Subsystem("ExampleSubsystem") {
+}
+void ExampleSubsystem::InitDefaultCommand() {
+}

src/Subsystems/Collector.h

@@ -0,0 +1,13 @@
+#ifndef COLLECTOR_H
+#define COLLECTOR_H
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+class Collector: public Subsystem
+{
+private:
+public:
+	ExampleSubsystem();
+	void InitDefaultCommand();
+};
+#endif

src/classes/Collector.cpp

@@ -1,22 +0,0 @@
-#include "Collector.h"
-DentCollector::DentCollector(int fl, int fr, int rl, int rr){
-  collectorLeft = new Talon(fl);
-  collectorRight = new Talon(fr);
-  raiserLeft = new Talon(rl);
-  raiserRight = new Talon(rr);
-}
-void DentCollector::Collect(float power){
-  collectorLeft->Set(power);
-  collectorRight->Set(power);
-}
-void DentCollector::Raise(float power){
-  raiserLeft->Set(power);
-  raiserRight->Set(power);
-}
-void DentCollector::Rest(){
-  raiserLeft->Set(0);
-  raiserRight->Set(0);
-  collectorLeft->Set(0);
-  collectorRight->Set(0);
-}
-// vim: ts=2:sw=2:et

src/classes/Collector.h

@@ -1,15 +0,0 @@
-#ifndef __COLLECTOR_H__
-#include <WPILib.h>
-#define __COLLECTOR_H__
-//#include ""
-class DentCollector{
-  private:
-    Talon *collectorLeft, *collectorRight, *raiserLeft, *raiserRight;
-  public:
-    DentCollector(int, int, int, int);
-    void Collect(float);
-    void Raise(float);
-    void Rest();
-};
-#endif
-// vim: ts=2:sw=2:et

src/hhlib

@@ -1 +0,0 @@
-Subproject commit 38a965dd1f7c6737f722f56c0f7940805ece9917