Robot now drives and the encoder almost works

.classpath

@@ -1,7 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
 <classpath>
   <classpathentry kind="src" path="src"/>
-  <classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
-  <classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
-  <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
+  <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+  <classpathentry kind="lib" path="~/wpilib/java/current/lib/WPILib.jar"/>
+  <classpathentry kind="lib" path="~/wpilib/java/current/lib/NetworkTables.jar"/>
   <classpathentry kind="output" path="bin"/>
 </classpath>

src/org/usfirst/frc/team2059/robot/OI.java

@@ -12,9 +12,11 @@ public class OI {
   JoystickButton[][] joystickButtons;
   Joystick[] joysticks;
   public OI() {
+    joysticks = new Joystick[2];
+    joystickButtons = new JoystickButton[2][13];
     // Create joysticks
-    joysticks[0] = new Joystick(1);
-    joysticks[1] = new Joystick(2);
+    joysticks[0] = new Joystick(0);
+    joysticks[1] = new Joystick(1);
     // Create buttons
     for (int i = 0; i < 12; i++) {
       joystickButtons[0][i] = new JoystickButton(joysticks[0], i + 1);
@@ -26,6 +28,9 @@ public class OI {
   public Joystick[] getJoysticks() {
     return joysticks;
   }
+  public Joystick getJoystick(int stick) {
+    return joysticks[stick];
+  }
   public JoystickButton[][] getJoystickButtons() {
     return joystickButtons;
   }

src/org/usfirst/frc/team2059/robot/Robot.java

@@ -1,4 +1,5 @@
 package org.usfirst.frc.team2059.robot;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
@@ -10,6 +11,7 @@ public class Robot extends IterativeRobot {
   Command autonomousCommand;
   SendableChooser chooser;
   public void robotInit() {
+    CommandBase.init();
     oi = new OI();
     chooser = new SendableChooser();
     SmartDashboard.putData("Auto mode", chooser);

src/org/usfirst/frc/team2059/robot/RobotMap.java

@@ -1,10 +1,10 @@
 package org.usfirst.frc.team2059.robot;
 public class RobotMap {
   //Drive
-  public static int driveLeftMotorOne = 1;
-  public static int driveLeftMotorTwo = 2;
-  public static int driveRightMotorOne = 3;
-  public static int driveRightMotorTwo = 4;
+  public static int driveLeftMotorOne = 0;
+  public static int driveLeftMotorTwo = 1;
+  public static int driveRightMotorOne = 2;
+  public static int driveRightMotorTwo = 3;
   public static int driveRightEncoder = 0;
   public static int driveLeftEncoder = 1;
   //Arm

src/org/usfirst/frc/team2059/robot/commands/CommandBase.java

@@ -3,7 +3,11 @@ import org.usfirst.frc.team2059.robot.subsystems.DriveBase;
 import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
 import edu.wpi.first.wpilibj.command.Command;
 public abstract class CommandBase extends Command {
-  protected static EncoderBase encoderBase = new EncoderBase();
-  protected static DriveBase driveBase = new DriveBase();
+  protected static EncoderBase encoderBase;
+  protected static DriveBase driveBase;
+  public static void init() {
+    encoderBase = new EncoderBase();
+    driveBase = new DriveBase();
+  }
 }
 // vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/Drive.java

@@ -6,6 +6,7 @@ import org.usfirst.frc.team2059.robot.Robot;
  */
 public class Drive extends CommandBase {
   public Drive() {
+    requires(driveBase);
   }
   // Called just before this Command runs the first time
   protected void initialize() {
@@ -15,9 +16,6 @@ public class Drive extends CommandBase {
     double x = Robot.oi.getJoysticks()[0].getRawAxis(0);
     double y = Robot.oi.getJoysticks()[0].getRawAxis(1);
     double z = Robot.oi.getJoysticks()[0].getRawAxis(2);
-    System.out.println("x: "+x);
-    System.out.println("y: "+y);
-    System.out.println("z: "+z);
     driveBase.driveArcade(x, y, z, 0);
   }
   // Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team2059/robot/commands/LogEncoder.java

@@ -8,11 +8,6 @@ public class LogEncoder  extends CommandBase {
   protected void initialize() {
   }
   protected boolean isFinished() {
-    //TODO: Not sure if isFinished() is checked before execute()
-    //assuming it is not,
-    return true;
-  }
-  protected void execute() {
     EncoderValues values = encoderBase.getValues();
     System.out.println("==== Encoder log ====");
     System.out.println("Count     : " + values.getCount());
@@ -21,6 +16,9 @@ public class LogEncoder  extends CommandBase {
     System.out.println("Rate      : " + values.getRate());
     System.out.println("Direction : " + values.getDirection());
     System.out.println("Stopped   : " + values.getStopped());
+    return true;
+  }
+  protected void execute() {
   }
   protected void end() {
   }

src/org/usfirst/frc/team2059/robot/structs/EncoderValues.java

@@ -4,6 +4,12 @@ public class EncoderValues {
   private double distance, period, rate;
   private boolean direction, stopped;
   public EncoderValues(int count, double distance, double period, double rate, boolean direction, boolean stopped) {
+    this.count = count;
+    this.distance = distance;
+    this.period = period;
+    this.rate = rate;
+    this.direction = direction;
+    this.stopped = stopped;
   }
   public int getCount() {
     return count;

src/org/usfirst/frc/team2059/robot/subsystems/DriveBase.java

@@ -7,7 +7,7 @@ public class DriveBase extends Subsystem {
   Talon leftMotorOne = new Talon(RobotMap.driveLeftMotorOne);
   Talon leftMotorTwo = new Talon(RobotMap.driveLeftMotorTwo);
   Talon rightMotorOne = new Talon(RobotMap.driveRightMotorOne);
-  Talon rightMotorTwo = new Talon(RobotMap.driveRightMotorOne);
+  Talon rightMotorTwo = new Talon(RobotMap.driveRightMotorTwo);
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }

src/org/usfirst/frc/team2059/robot/subsystems/EncoderBase.java

@@ -5,15 +5,19 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.Encoder;
 import org.usfirst.frc.team2059.robot.structs.EncoderValues;
 public class EncoderBase extends Subsystem {
-  Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k4X);
+  //TODO: Might not need a constructor
+  public EncoderBase() {
+  }
+  //Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k1X);
+  Encoder enc = new Encoder(0, 1);
   public void initDefaultCommand() {
-    //TODO: Not sure if we need a default command, not settingo one
+    //TODO: Not sure if we need a default command, not setting one
     //TODO: These are just defaults, they wil lneed to be changed
-    enc.setMaxPeriod(.1);
-    enc.setMinRate(10);
-    enc.setDistancePerPulse(5);
-    enc.setReverseDirection(false);
-    enc.setSamplesToAverage(7);
+    //enc.setMaxPeriod(.1);
+    //enc.setMinRate(10);
+    //enc.setDistancePerPulse(5);
+    //enc.setReverseDirection(false);
+    //enc.setSamplesToAverage(7);
   }
   public void resetEncoder() {
     enc.reset();