added roller code

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

@@ -8,6 +8,8 @@ import org.usfirst.frc.team2059.robot.commands.MoveArm;
 import org.usfirst.frc.team2059.robot.commands.SetArmPosition;
 import org.usfirst.frc.team2059.robot.commands.SetShooterState;
 import org.usfirst.frc.team2059.robot.commands.SetArmStopState;
+import org.usfirst.frc.team2059.robot.commands.ShootAtSpeed;
+import org.usfirst.frc.team2059.robot.commands.SpinRollers;
 import org.usfirst.frc.team2059.robot.RobotMap;
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -29,7 +31,8 @@ public class OI {
     }
     // Print log when button 1 pressed
     //joystickButtons[0][0].whenPressed(new LogEncoder());
-    joystickButtons[0][0].whileHeld(new SetShooterState(true));
+    joystickButtons[0][0].whileHeld(new SpinRollers(1));
+    joystickButtons[0][1].whileHeld(new SetShooterState(true));
 
     joystickButtons[1][0].whileHeld(new MoveArm(0.5));
     joystickButtons[1][1].whileHeld(new MoveArm(-0.5));

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

@@ -17,6 +17,8 @@ public class Robot extends IterativeRobot {
     SmartDashboard.putData("Auto mode", chooser);
     SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
     SmartDashboard.putBoolean("CompressorEnabled",true); 
+    //Automatically determine if rolling in or rolling out
+    SmartDashboard.putBoolean("SmartRollers",true);
   }
   public void disabledInit() {
   }
@@ -37,6 +39,7 @@ public class Robot extends IterativeRobot {
       autonomousCommand.cancel();
     }
     CommandBase.pneumatics.setCompressorEnabled(true);
+    CommandBase.pneumatics.setArmStopState(false);
   }
   public void teleopPeriodic() {
     Scheduler.getInstance().run();

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

@@ -25,7 +25,7 @@ public class RobotMap {
   public static int armStopSolenoidOne = 4;
   public static int armStopSolenoidTwo = 5;
   //Misc
-  public static int mainArmPresetCollect = 0;
+  public static int mainArmPresetCollect = -3;
   public static int mainArmPresetTraverse = 11;
   public static int mainArmPresetCloseShot = 90;
   public static int mainArmPresetFarShot = 70;

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

@@ -3,17 +3,20 @@ 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 org.usfirst.frc.team2059.robot.subsystems.Shooter;
 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 Shooter shooter;
   public static void init() {
     encoderBase = new EncoderBase();
     driveBase = new DriveBase();
     mainArm = new MainArm();
     pneumatics = new Pneumatics();
+    shooter = new Shooter();
   }
 }
 // vim: sw=2:ts=2:sts=2

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

@@ -0,0 +1,34 @@
+package org.usfirst.frc.team2059.robot.commands;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+import org.usfirst.frc.team2059.robot.RobotMap;
+/**
+ *
+ */
+public class ShootAtSpeed extends CommandBase {
+  double speed;
+  public ShootAtSpeed(double s) {
+    speed=s;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    shooter.shootAtSpeed(speed);
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return false;
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+    shooter.shootAtSpeed(0);
+  }
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+    end();
+  }
+}
+// vim: sw=2:ts=2:sts=2

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

@@ -0,0 +1,38 @@
+package org.usfirst.frc.team2059.robot.commands;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
+/**
+ *
+ */
+public class SpinRollers extends CommandBase {
+  double speed;
+  public SpinRollers(double s) {
+    speed=s;
+  }
+  // Called just before this Command runs the first time
+  protected void initialize() {
+  }
+  // Called repeatedly when this Command is scheduled to run
+  protected void execute() {
+    if(SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees()<5){
+      shooter.shootAtSpeed(-.5);
+    }else{
+      shooter.shootAtSpeed(speed);
+    }
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  protected boolean isFinished() {
+    return false;
+  }
+  // Called once after isFinished returns true
+  protected void end() {
+    shooter.shootAtSpeed(0);
+  }
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  protected void interrupted() {
+    end();
+  }
+}
+// vim: sw=2:ts=2:sts=2

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

@@ -0,0 +1,15 @@
+package org.usfirst.frc.team2059.robot.subsystems;
+import org.usfirst.frc.team2059.robot.RobotMap;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.CANTalon;
+public class Shooter extends Subsystem {
+  CANTalon shooterMotorLeft = new CANTalon(RobotMap.shooterLeftMotor);
+  CANTalon shooterMotorRight = new CANTalon(RobotMap.shooterRightMotor);
+  public void initDefaultCommand() {
+  }
+  public void shootAtSpeed(double speed){
+    shooterMotorRight.set(speed);
+    shooterMotorLeft.set(speed);
+  }
+}
+// vim: sw=2:ts=2:sts=2