From 3f55c7b2b844d2e80513ce180066e5288c3d9a64 Mon Sep 17 00:00:00 2001
From: Adam Long <macadam.long@gmail.com>
Date: Mon, 12 Sep 2016 20:04:15 +0000
Subject: [PATCH] added compressor code

---
 src/org/usfirst/frc/team2059/robot/Robot.java |  3 ++
 .../team2059/robot/commands/CommandBase.java  |  3 ++
 .../team2059/robot/subsystems/Pneumatics.java | 43 +++++++++++++++++++
 3 files changed, 49 insertions(+)
 create mode 100644 src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java

diff --git a/src/org/usfirst/frc/team2059/robot/Robot.java b/src/org/usfirst/frc/team2059/robot/Robot.java
index 11a2942..7487212 100644
--- a/src/org/usfirst/frc/team2059/robot/Robot.java
+++ b/src/org/usfirst/frc/team2059/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
     chooser = new SendableChooser();
     SmartDashboard.putData("Auto mode", chooser);
     SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
+    SmartDashboard.putBoolean("CompressorEnabled",true); 
   }
   public void disabledInit() {
   }
@@ -35,11 +36,13 @@ public class Robot extends IterativeRobot {
     if (autonomousCommand != null) {
       autonomousCommand.cancel();
     }
+    CommandBase.pneumatics.setCompressorEnabled(true);
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
     SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw()); 
     SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees()); 
+    CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
     System.out.println(CommandBase.mainArm.getDegrees());
   }
   public void testPeriodic() {
diff --git a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
index e7bd8d5..8677a4b 100644
--- a/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
+++ b/src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
@@ -2,15 +2,18 @@ package org.usfirst.frc.team2059.robot.commands;
 import org.usfirst.frc.team2059.robot.subsystems.DriveBase;
 import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
 import org.usfirst.frc.team2059.robot.subsystems.MainArm;
+import org.usfirst.frc.team2059.robot.subsystems.Pneumatics;
 import edu.wpi.first.wpilibj.command.Command;
 public abstract class CommandBase extends Command {
   public static EncoderBase encoderBase;
   public static DriveBase driveBase;
   public static MainArm mainArm;
+  public static Pneumatics pneumatics;
   public static void init() {
     encoderBase = new EncoderBase();
     driveBase = new DriveBase();
     mainArm = new MainArm();
+    pneumatics = new Pneumatics();
   }
 }
 // vim: sw=2:ts=2:sts=2
diff --git a/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
new file mode 100644
index 0000000..cf4cc22
--- /dev/null
+++ b/src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java
@@ -0,0 +1,43 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import org.usfirst.frc.team2059.robot.commands.Drive;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+public class Pneumatics extends Subsystem {
+  Compressor compressor = new Compressor(RobotMap.pcmID);
+  DoubleSolenoid shooterSolenoid = new DoubleSolenoid(RobotMap.shooterSolenoidOne, RobotMap.shooterSolenoidTwo);
+  DoubleSolenoid armStopSolenoid = new DoubleSolenoid(RobotMap.armStopSolenoidOne, RobotMap.armStopSolenoidTwo);
+  boolean shooterState, armStopState;
+  public void initDefaultCommand() {
+  }
+  public void setCompressorEnabled(boolean state){
+    compressor.setClosedLoopControl(state);
+  }
+  public void setShooterState(boolean state){
+    if(state){
+      shooterSolenoid.set(DoubleSolenoid.Value.kForward);
+    }else{
+      shooterSolenoid.set(DoubleSolenoid.Value.kReverse);
+    }
+    shooterState=state;
+  }
+  public void setArmStopState(boolean state){
+    if(state){
+      armStopSolenoid.set(DoubleSolenoid.Value.kForward);
+    }else{
+      armStopSolenoid.set(DoubleSolenoid.Value.kReverse);
+    }
+    armStopState=state;
+  }
+  public boolean getShooterState(){
+    return shooterState;
+  }
+  public boolean getArmStopState(){
+    return armStopState;
+  }
+  public boolean getCompressorEnabled(){
+    return compressor.enabled();
+  }
+}
+// vim: sw=2:ts=2:sts=2