Added BinIn, BinOut commands, BinCollector subsystem for collecting bins, mapped left button 3 and 4 to move BinCollector elevator. Works 100%

Commands/BinCollector/BinIn.cpp

@@ -0,0 +1,26 @@
+#include "BinIn.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinIn::BinIn(float timeout): Command("BinIn"){
+  SetTimeout(timeout);
+}
+void BinIn::Initialize(){
+}
+void BinIn::Execute(){
+  DentRobot::binCollector->Set(0.75);
+  End();
+}
+bool BinIn::IsFinished(){
+  if(IsTimedOut()){
+    printf("Robot stoped collecting bin.\n");
+    return true;
+  }else{
+    return false;
+  }
+}
+void BinIn::End(){
+}
+void BinIn::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/BinCollector/BinIn.h

@@ -0,0 +1,42 @@
+#ifndef BinIn_H
+#define BinIn_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+/**
+ * @brief Lowers the bin collector until a timeout is reached
+ */
+class BinIn: public Command{
+  public:
+    /**
+     * @brief Constructs BinIn
+     *
+     * @param timeout Timeout in seconds
+     */
+    BinIn(float timeout);
+    /**
+     * @brief Initializes the class
+     */
+    void Initialize();
+    /**
+     * @brief Lowers the bin collector at -1.0 power
+     */
+    void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
+    bool IsFinished();
+    /**
+     * @brief Sets the bin collector to stop
+     */
+    void End();
+    /**
+     * @brief Calls End()
+     */
+    void Interrupted();
+};
+#endif
+// vim: ts=2:sw=2:et

Commands/BinCollector/BinOut.cpp

@@ -0,0 +1,26 @@
+#include "BinOut.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinOut::BinOut(double timeout): Command("BinOut"){
+  SetTimeout(timeout);
+}
+void BinOut::Initialize(){
+}
+void BinOut::Execute(){
+  DentRobot::binCollector->Set(0.1);
+  End();
+}
+bool BinOut::IsFinished(){
+  if(IsTimedOut()){
+    printf("Robot stoped ejecting bin.\n");
+    return true;
+  }else{
+    return false;
+  }
+}
+void BinOut::End(){
+}
+void BinOut::Interrupted(){
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/BinCollector/BinOut.h

@@ -0,0 +1,42 @@
+#ifndef BinOut_H
+#define BinOut_H
+
+#include "Commands/Command.h"
+#include "WPILib.h"
+
+/**
+ * @brief Raises the bin collector until a timeout is reached
+ */
+class BinOut: public Command{
+  public:
+    /**
+     * @brief Constructs BinOut
+     *
+     * @param timeout Timeout in seconds
+     */
+    BinOut(double timeout);
+    /**
+     * @brief Initializes the class
+     */
+    void Initialize();
+    /**
+     * @brief Raises the bin colector at 1.0 power
+     */
+    void Execute();
+    /**
+     * @brief Checks if the command is finished
+     *
+     * @return True only if the timeout was reached
+     */
+    bool IsFinished();
+    /**
+     * @brief Sets the bin colector to stop
+     */
+    void End();
+    /**
+     * @brief Calls End()
+     */
+    void Interrupted();
+};
+#endif
+// vim: ts=2:sw=2:et

DentRobot.cpp

@@ -9,6 +9,7 @@ Elevator* DentRobot::elevator = NULL;
 BinElevator* DentRobot::binElevator = NULL;
 CommandGroup* DentRobot::aut = NULL;
 Pneumatics* DentRobot::pneumatics = NULL;
+BinCollector* DentRobot::binCollector = NULL;
 DentRobot::DentRobot(){
   oi = new OI();
   collector = new Collector();
@@ -16,6 +17,7 @@ DentRobot::DentRobot(){
   elevator = new Elevator();
   binElevator = new BinElevator();
   pneumatics = new Pneumatics();
+  binCollector = new BinCollector();
   //CameraServer::GetInstance()->SetQuality(25);
   //CameraServer::GetInstance()->StartAutomaticCapture("cam0");
   printf("The robot is on\n");

DentRobot.h

@@ -7,6 +7,7 @@
 #include "Subsystems/Drivetrain.h"
 #include "Subsystems/Collector.h"
 #include "Subsystems/Pneumatics.h"
+#include "Subsystems/BinCollector.h"
 #include "Commands/Autonomous/Autonomous.h"
 /**
  * @brief The Hitchhikers 2015 robot, Dent
@@ -48,6 +49,10 @@ class DentRobot: public IterativeRobot{
      * @brief The Pneumatics system (unused)
      */
     static Pneumatics* pneumatics;
+    /**
+     * @brief The BinCollector for collecting bins
+     */
+    static BinCollector* binCollector;
     /**
      * @brief The Autonomous command
      */

OI.cpp

@@ -9,6 +9,8 @@
 #include "Commands/BinElevator/BinRaise.h"
 #include "Commands/BinElevator/BinCloseArms.h"
 #include "Commands/BinElevator/BinOpenArms.h"
+#include "Commands/BinCollector/BinIn.h"
+#include "Commands/BinCollector/BinOut.h"
 #include "Commands/Autonomous/CollectTote.h"
 #include "Commands/Autonomous/ReleaseTote.h"
 OI::OI(){
@@ -47,16 +49,18 @@ OI::OI(){
   // BinElevator
   JoystickButton *right3 = new JoystickButton(rightStick, 3);
   JoystickButton *right5 = new JoystickButton(rightStick, 5);
-  //JoystickButton *right7 = new JoystickButton(rightStick, 7);
-  //JoystickButton *right8 = new JoystickButton(rightStick, 8);
-  //right7->WhenPressed(new BinOpenArms());
-  //right8->WhenPressed(new BinCloseArms());
   binRaise = new BinRaise(3.0);
   binLower = new BinLower(2.0);
   right3->WhileHeld(binLower);
   right3->CancelWhenPressed(binRaise);
   right5->WhileHeld(binRaise);
   right5->CancelWhenPressed(binLower);
+
+  // BinCollector
+  JoystickButton *left3 = new JoystickButton(leftStick, 3);
+  JoystickButton *left4 = new JoystickButton(leftStick, 4);
+  left3->WhileHeld(new BinIn(2.0));
+  left4->WhileHeld(new BinOut(2.0));
 }
 Joystick* OI::GetRightStick(){
   return rightStick;

RobotMap.h

@@ -37,5 +37,8 @@
 #define COLLECTOR_RIGHT_CAN 9
 #define COLLECTOR_SONAR_ANALOG 3
 
+// BinCollector
+#define BINCOLLECTOR 0
+
 #endif
 // vim: ts=2:sw=2:et

Subsystems/BinCollector.cpp

@@ -0,0 +1,16 @@
+#include "BinCollector.h"
+#include "../RobotMap.h"
+
+BinCollector::BinCollector(): Subsystem("BinCollector"){
+  binCollectorMotor = new Servo(BINCOLLECTOR);
+}
+void BinCollector::InitDefaultCommand(){
+}
+void BinCollector::Set(double pos){
+  binCollectorMotor->Set(pos);
+  printf("BinCollector angle: %f\n", pos);
+}
+double BinCollector::Get(){
+  return binCollectorMotor->Get();
+}
+// vim: ts=2:sw=2:et

Subsystems/BinCollector.h

@@ -0,0 +1,36 @@
+#ifndef BinCollector_H
+#define BinCollector_H
+
+#include "WPILib.h"
+/**
+ * @brief Collects bins
+ * 
+ * Collects bins with a servo
+ */
+class BinCollector: public Subsystem{
+  private:
+    Servo *binCollectorMotor; //<! BinCollector motor
+  public:
+    /**
+     * @brief Constructs BinCollector
+     */
+    BinCollector();
+    /**
+     * @brief No action
+     */
+    void InitDefaultCommand();
+    /**
+     * @brief Sets the servo angle
+     *
+     * @param pos The angle of the servo (0.0 to 1.0)
+     */
+    void Set(double pos);
+    /**
+     * @brief Gets the servo angle
+     *
+     * @return The servo angle (0.0 to 1.0)
+     */
+    double Get();
+};
+#endif
+// vim: ts=2:sw=2:et

mainpage.dox

@@ -5,6 +5,7 @@
 * @section Subsystems
 *   -# @ref Drivetrain
 *   -# @ref BinElevator
+*   -# @ref BinCollector
 *   -# @ref Elevator
 *   -# @ref Collector
 *   -# @ref Pneumatics (unused)
@@ -15,6 +16,8 @@
 *   -# @ref BinLower
 *   -# @ref BinOpenArms
 *   -# @ref BinRaise
+*   -# @ref BinIn
+*   -# @ref BinOut
 *   -# @ref RollIn
 *   -# @ref RollOut
 *   -# @ref Drive