Removed window motors (untested)

Commands/Autonomous/Autonomous.cpp

@@ -4,8 +4,6 @@
 #include "../Elevator/Lower.h"
 #include "AutoDrive.h"
 #include "Turn.h"
-#include "../Collector/CloseCollector.h"
-#include "../Collector/OpenCollector.h"
 #include "../Collector/RollIn.h"
 #include "../Collector/CollectTote.h"
 Autonomous::Autonomous(int seq){
@@ -16,11 +14,8 @@ Autonomous::Autonomous(int seq){
       AddSequential(new CollectTote());
       //AddSequential(new Raise());
       //AddSequential(new Lower());
-      //AddSequential(new OpenCollector());
-      //AddSequential(new CloseCollector());
       //AddSequential(new Turn());
       //AddParallel(new AutoDrive(0.5));
-      //AddParallel(new CloseCollector());
       //AddSequential(new RollIn());
       //AddSequential(new Turn());
       break;

Commands/Collector/CloseCollector.cpp

@@ -1,27 +0,0 @@
-#include "CloseCollector.h"
-CloseCollector::CloseCollector() : Command("CloseCollector"){
-}
-void CloseCollector::Initialize(){
-  printf("Initialized collector: 0.5\n");
-  SetTimeout(1);
-}
-void CloseCollector::Execute(){
-  //printf("Closing collector: -0.5f\n");
-  DentRobot::collector->MoveArms(-0.5);
-  //DentRobot::collector->MoveArms(-(-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
-}
-bool CloseCollector::IsFinished(){
-  if(DentRobot::collector->ArmSensor()||IsTimedOut()){
-    printf("Stopped Closing: %d, %d\n",DentRobot::collector->ArmSensor(), IsTimedOut());
-    return true;
-  }else{
-    return false;
-  }
-}
-void CloseCollector::End(){
-  DentRobot::collector->MoveArms(0.0f);
-}
-void CloseCollector::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/Collector/CloseCollector.h

@@ -1,20 +0,0 @@
-#ifndef CLOSECOLLECTOR_H
-#define CLOSECOLLECTOR_H
-
-#include "Commands/Command.h"
-#include "../../CommandBase.h"
-#include "../../DentRobot.h"
-#include "WPILib.h"
-
-class CloseCollector: public Command{
-  public:
-    CloseCollector();
-    void Initialize();
-    void Execute();
-    bool IsFinished();
-    void End();
-    void Interrupted();
-};
-
-#endif
-// vim: ts=2:sw=2:et

Commands/Collector/CollectTote.cpp

@@ -2,15 +2,11 @@
 #include "../../DentRobot.h"
 #include "../Autonomous/AutoDrive.h"
 #include "RollIn.h"
-#include "CloseCollector.h"
 CollectTote::CollectTote(){
-  AddParallel(new CloseCollector());
   AddParallel(new AutoDrive(0.5, -1.0));
   AddSequential(new RollIn());
-  AddParallel(new CloseCollector());
   AddParallel(new AutoDrive(0.5, 1.0));
   AddSequential(new RollIn());
-  AddParallel(new CloseCollector());
   AddParallel(new AutoDrive(0.5, -1.0));
   AddSequential(new RollIn());
 }

Commands/Collector/OpenCollector.cpp

@@ -1,22 +0,0 @@
-#include "OpenCollector.h"
-OpenCollector::OpenCollector() : Command("OpenCollector"){
-  Requires(DentRobot::collector);
-}
-void OpenCollector::Initialize(){
-  SetTimeout(0.5);
-}
-void OpenCollector::Execute(){
-  DentRobot::collector->MoveArms(0.35);
-  //DentRobot::collector->MoveArms((-DentRobot::oi->GetRightStick()->GetRawAxis(3)+1)/2*.3/.5);
-}
-bool OpenCollector::IsFinished(){
-  //return DentRobot::collector->ArmSensor();
-  return IsTimedOut();
-}
-void OpenCollector::End(){
-  DentRobot::collector->MoveArms(0.0f);
-}
-void OpenCollector::Interrupted(){
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/Collector/OpenCollector.h

@@ -1,20 +0,0 @@
-#ifndef OPENCOLLECTOR_H
-#define OPENCOLLECTOR_H
-
-#include "Commands/Command.h"
-#include "../../CommandBase.h"
-#include "../../DentRobot.h"
-#include "WPILib.h"
-
-class OpenCollector: public Command{
-  public:
-    OpenCollector();
-    void Initialize();
-    void Execute();
-    bool IsFinished();
-    void End();
-    void Interrupted();
-};
-
-#endif
-// vim: ts=2:sw=2:et

Commands/Collector/ReleaseTote.cpp

@@ -2,10 +2,8 @@
 #include "../../DentRobot.h"
 #include "RollOut.h"
 #include "../Autonomous/AutoDrive.h"
-#include "CloseCollector.h"
 ReleaseTote::ReleaseTote(){
   AddParallel(new RollOut());
   AddParallel(new AutoDrive(0.5, 0.75));
-  AddSequential(new CloseCollector());
 }
 // vim: ts=2:sw=2:et

OI.cpp

@@ -1,8 +1,6 @@
 #include "OI.h"
 #include "Commands/Elevator/Lower.h"
 #include "Commands/Elevator/Raise.h"
-#include "Commands/Collector/OpenCollector.h"
-#include "Commands/Collector/CloseCollector.h"
 #include "Commands/Collector/RollIn.h"
 #include "Commands/Collector/RollOut.h"
 #include "Commands/BinElevator/BinLower.h"
@@ -13,12 +11,8 @@ OI::OI() {
   leftStick=new Joystick(0);
   rightStick=new Joystick(1);
   // Collector
-  JoystickButton *right1=new JoystickButton(rightStick, 1);
-  JoystickButton *right2=new JoystickButton(rightStick, 2);
   JoystickButton *left1=new JoystickButton(leftStick, 1);
   JoystickButton *left2=new JoystickButton(leftStick, 2);
-  right1->WhileHeld(new CloseCollector());
-  right2->WhileHeld(new OpenCollector());
   left1->WhileHeld(new RollIn());
   left2->WhileHeld(new RollOut());
   // Elevator

Subsystems/Collector.cpp

@@ -2,18 +2,12 @@
 #include "../RobotMap.h"
 
 Collector::Collector() : Subsystem("Collector") {
-  windowMotorLeft=new CANTalon(COLLECTOR_WINDOW_LEFT_CAN);
-  windowMotorRight=new CANTalon(COLLECTOR_WINDOW_RIGHT_CAN);
   collectorMotorLeft=new CANTalon(COLLECTOR_LEFT_CAN);
   collectorMotorBottom=new CANTalon(COLLECTOR_BOTTOM_CAN);
   collectorMotorRight=new CANTalon(COLLECTOR_RIGHT_CAN);
 }
 void Collector::InitDefaultCommand() {
 }
-void Collector::MoveArms(double a){
-  windowMotorLeft->Set(a);
-  windowMotorRight->Set(-a);
-}
 void Collector::MoveRollers(double a){
   collectorMotorLeft->Set(a);
   collectorMotorBottom->Set(a);

Subsystems/Collector.h

@@ -5,11 +5,10 @@
 class Collector: public Subsystem
 {
   private:
-    CANTalon *windowMotorLeft, *windowMotorRight, *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRight;
+    CANTalon *collectorMotorLeft, *collectorMotorBottom, *collectorMotorRight;
   public:
     Collector();
     void InitDefaultCommand();
-    void MoveArms(double);
     void MoveRollers(double);
     bool ArmSensor();
     bool BoxCollected();