Ignore sysprops.xml, write drive code

.gitignore

@@ -1,3 +1,4 @@
 dist/FRCUserProgram.jar
 build
 bin
+sysProps.xml

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

@@ -23,5 +23,11 @@ public class OI {
     // Print log when button 1 pressed
     joystickButtons[0][0].whenPressed(new LogEncoder());
   }
+  public Joystick[] getJoysticks() {
+    return joysticks;
+  }
+  public JoystickButton[][] getJoystickButtons() {
+    return joystickButtons;
+  }
 }
 // vim: sw=2:ts=2:sts=2

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

@@ -5,89 +5,39 @@ import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the IterativeRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
 public class Robot extends IterativeRobot {
   public static OI oi;
   Command autonomousCommand;
   SendableChooser chooser;
-  /**
-   * This function is run when the robot is first started up and should be
-   * used for any initialization code.
-   */
   public void robotInit() {
     oi = new OI();
     chooser = new SendableChooser();
-//        chooser.addObject("My Auto", new MyAutoCommand());
     SmartDashboard.putData("Auto mode", chooser);
   }
-  /**
-    * This function is called once each time the robot enters Disabled mode.
-    * You can use it to reset any subsystem information you want to clear when
-   * the robot is disabled.
-    */
   public void disabledInit() {
   }
   public void disabledPeriodic() {
     Scheduler.getInstance().run();
   }
-  /**
-   * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
-   * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
-   * Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
-   * below the Gyro
-   *
-   * You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
-   * or additional comparisons to the switch structure below with additional strings & commands.
-   */
   public void autonomousInit() {
     autonomousCommand = (Command) chooser.getSelected();
-    /* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
-    switch(autoSelected) {
-    case "My Auto":
-    	autonomousCommand = new MyAutoCommand();
-    	break;
-    case "Default Auto":
-    default:
-    	autonomousCommand = new ExampleCommand();
-    	break;
-    } */
-    // schedule the autonomous command (example)
     if (autonomousCommand != null) {
       autonomousCommand.start();
     }
   }
-  /**
-   * This function is called periodically during autonomous
-   */
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
   }
   public void teleopInit() {
-    // This makes sure that the autonomous stops running when
-    // teleop starts running. If you want the autonomous to
-    // continue until interrupted by another command, remove
-    // this line or comment it out.
     if (autonomousCommand != null) {
       autonomousCommand.cancel();
     }
   }
-  /**
-   * This function is called periodically during operator control
-   */
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
   }
-  /**
-   * This function is called periodically during test mode
-   */
   public void testPeriodic() {
     LiveWindow.run();
   }
 }
-// vim: sw=2:ts=2:sts=2
+//  vim: sw=2:ts=2:sts=2

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

@@ -3,8 +3,8 @@ public class RobotMap {
   //Drive
   public static int driveLeftMotorOne = 1;
   public static int driveLeftMotorTwo = 2;
-  public static int driveRightMotorOne = 1;
+  public static int driveRightMotorOne = 3;
-  public static int driveRightMotorTwo = 2;
+  public static int driveRightMotorTwo = 4;
   public static int driveRightEncoder = 0;
   public static int driveLeftEncoder = 1;
   //Arm
@@ -30,4 +30,4 @@ public class RobotMap {
   public static int mainArmPresetCloseShot = 95;
   public static int mainArmPresetFarShot = 85;
 }
-// vim: sw=2:ts=2:sts=2
+// vim: sw=2:ts=2:sts=2

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

@@ -1,9 +1,10 @@
 package org.usfirst.frc.team2059.robot.commands;
-import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import org.usfirst.frc.team2059.robot.Robot;
 /**
  *
  */
-public class Drive extends Command {
+public class Drive extends CommandBase {
   public Drive() {
   }
   // Called just before this Command runs the first time
@@ -11,6 +12,13 @@ public class Drive extends Command {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
+    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()
   protected boolean isFinished() {

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

@@ -2,12 +2,12 @@ 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.CANTalon;
+import edu.wpi.first.wpilibj.Talon;
 public class DriveBase extends Subsystem {
-  CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
+  Talon leftMotorOne = new Talon(RobotMap.driveLeftMotorOne);
-  CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
+  Talon leftMotorTwo = new Talon(RobotMap.driveLeftMotorTwo);
-  CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
+  Talon rightMotorOne = new Talon(RobotMap.driveRightMotorOne);
-  CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
+  Talon rightMotorTwo = new Talon(RobotMap.driveRightMotorOne);
   public void initDefaultCommand() {
     setDefaultCommand(new Drive());
   }
@@ -18,4 +18,4 @@ public class DriveBase extends Subsystem {
     rightMotorTwo.set(y + (x + z));
   }
 }
-// vim: sw=2:ts=2:sts=2
+// vim: sw=2:ts=2:sts=2