.classpath

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

.gitignore

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

autoformat.sh

@@ -17,7 +17,7 @@
 # -H             : Pad header (space after if, for, while)
 OPTS=( --mode=java -xc --style=google -j -s2 -xG -S -K -N -xn -xl -n -p -H )
 GLOB=( src/**/*.java )
-astyle $OPTS $GLOB|\grep -vE '^Unchanged'
+astyle $OPTS $GLOB|\grep -P '^(?!Unchanged)'
 # Get rid of newlines
-perl -ni'' -e '/^\s*$/ || print' $GLOB
+sed -i'' '/^\s*$/d' $GLOB
 \cd ->/dev/null

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

@@ -1,63 +1,30 @@
 package org.usfirst.frc.team2059.robot;
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
-import edu.wpi.first.wpilibj.command.Command;
-import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.LogEncoder;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.PIDDrive;
-import org.usfirst.frc.team2059.robot.commands.shooter.MoveArm;
-import org.usfirst.frc.team2059.robot.commands.shooter.ResetLower;
-import org.usfirst.frc.team2059.robot.commands.shooter.ResetUpper;
-import org.usfirst.frc.team2059.robot.commands.shooter.SetArmPosition;
-import org.usfirst.frc.team2059.robot.commands.shooter.SetShooterState;
-import org.usfirst.frc.team2059.robot.commands.shooter.SetArmStopState;
-import org.usfirst.frc.team2059.robot.commands.shooter.ShootAtSpeed;
-import org.usfirst.frc.team2059.robot.commands.shooter.SpinRollers;
-import org.usfirst.frc.team2059.robot.RobotMap;
 /**
  * This class is the glue that binds the controls on the physical operator
  * interface to the commands and command groups that allow control of the robot.
  */
 public class OI {
-  JoystickButton[][] joystickButtons;
+  //// CREATING BUTTONS
-  Joystick[] joysticks;
+  // One type of button is a joystick button which is any button on a joystick.
-  public OI() {
+  // You create one by telling it which joystick it's on and which button
-    joysticks = new Joystick[2];
+  // number it is.
-    joystickButtons = new JoystickButton[2][13];
+  // Joystick stick = new Joystick(port);
-    // Create joysticks
+  // Button button = new JoystickButton(stick, buttonNumber);
-    joysticks[0] = new Joystick(0);
+  // There are a few additional built in buttons you can use. Additionally,
-    joysticks[1] = new Joystick(1);
+  // by subclassing Button you can create custom triggers and bind those to
-    // Create buttons
+  // commands the same as any other Button.
-    for (int i = 0; i < 12; i++) {
+  //// TRIGGERING COMMANDS WITH BUTTONS
-      joystickButtons[0][i] = new JoystickButton(joysticks[0], i + 1);
+  // Once you have a button, it's trivial to bind it to a button in one of
-      joystickButtons[1][i] = new JoystickButton(joysticks[1], i + 1);
+  // three ways:
-    }
+  // Start the command when the button is pressed and let it run the command
-    // Print log when button 1 pressed
+  // until it is finished as determined by it's isFinished method.
-    //joystickButtons[0][0].whenPressed(new LogEncoder());
+  // button.whenPressed(new ExampleCommand());
-    joystickButtons[0][0].whileHeld(new SetShooterState(true));
+  // Run the command while the button is being held down and interrupt it once
-    joystickButtons[0][2].whileHeld(new SpinRollers(-0.5,false));
+  // the button is released.
-    joystickButtons[0][3].whileHeld(new SpinRollers(1,false));
+  // button.whileHeld(new ExampleCommand());
-    joystickButtons[0][6].whileHeld(new SpinRollers(1,true));
+  // Start the command when the button is released  and let it run the command
-//    joystickButtons[0][2].whileHeld(new PIDDrive(400));
+  // until it is finished as determined by it's isFinished method.
-    joystickButtons[1][0].whileHeld(new MoveArm(1));
+  // button.whenReleased(new ExampleCommand());
-    joystickButtons[1][1].whileHeld(new MoveArm(-1));
-    //joystickButtons[1][2].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCollect));
-    joystickButtons[1][2].whileHeld(new ResetLower(-1));
-    joystickButtons[1][3].whileHeld(new SetArmPosition(RobotMap.mainArmPresetTraverse));
-    joystickButtons[1][4].whileHeld(new SetArmPosition(RobotMap.mainArmPresetCloseShot));
-    joystickButtons[1][5].whileHeld(new SetArmPosition(RobotMap.mainArmPresetLowShot));
-    joystickButtons[1][7].whileHeld(new SetArmStopState(true));
-//    joystickButtons[1][10].whileHeld(new ResetLower(-1));
-//    joystickButtons[1][11].whileHeld(new ResetUpper(1));
-  }
-  public Joystick[] getJoysticks() {
-    return joysticks;
-  }
-  public Joystick getJoystick(int stick) {
-    return joysticks[stick];
-  }
-  public JoystickButton[][] getJoystickButtons() {
-    return joystickButtons;
-  }
 }
 // vim: sw=2:ts=2:sts=2

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

@@ -1,76 +1,93 @@
 package org.usfirst.frc.team2059.robot;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.commands.autonomous.*;
 import edu.wpi.first.wpilibj.IterativeRobot;
-import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.command.Command;
 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;
-  CameraServer cameraServer;
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
   public void robotInit() {
-    CommandBase.init();
     oi = new OI();
     chooser = new SendableChooser();
-    cameraServer = CameraServer.getInstance();
+//        chooser.addObject("My Auto", new MyAutoCommand());
-    cameraServer.setQuality(50);
-    cameraServer.startAutomaticCapture("cam0");
-    chooser.addDefault("Nothing", new RoutineNothing());
-    chooser.addObject("Time based low bar", new RoutineDriveTime());
-    chooser.addObject("Time based defense", new RoutineDefenseTime());
     SmartDashboard.putData("Auto mode", chooser);
-    SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
-    SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());
-    SmartDashboard.putBoolean("CompressorEnabled", true);
-    //Automatically determine if rolling in or rolling out
-    SmartDashboard.putBoolean("SmartRollers", false);
-    //Use the limit swithces on the shooter
-    SmartDashboard.putBoolean("UseLimitSwitches", true);
   }
+  /**
+    * 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();
-    SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
-    SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
-    SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
   }
   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();
     }
-    CommandBase.pneumatics.setCompressorEnabled(true);
-    CommandBase.pneumatics.setArmStopState(false);
   }
+  /**
+   * This function is called periodically during operator control
+   */
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    SmartDashboard.putNumber("ArmAngleRaw", CommandBase.mainArm.getRaw());
-    SmartDashboard.putNumber("ArmAngleDegrees", CommandBase.mainArm.getDegrees());
-    SmartDashboard.putNumber("tmpRotations", CommandBase.driveBase.getLeftRotations());
-    if (Robot.oi.getJoysticks()[1].getRawButton(3)){
-      CommandBase.pneumatics.setArmStopState(true);
-    } else {
-      CommandBase.pneumatics.setArmStopState(false);
-    }
-    CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
-    System.out.println(CommandBase.mainArm.getDegrees());
   }
+  /**
+   * 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

@@ -3,18 +3,16 @@ public class RobotMap {
   //Drive
   public static int driveLeftMotorOne = 1;
   public static int driveLeftMotorTwo = 2;
-  public static int driveRightMotorOne = 3;
+  public static int driveRightMotorOne = 1;
-  public static int driveRightMotorTwo = 4;
+  public static int driveRightMotorTwo = 2;
-  public static int driveLeftEncoderA = 0;
+  public static int driveRightEncoder = 0;
-  public static int driveLeftEncoderB = 1;
+  public static int driveLeftEncoder = 1;
   //Arm
-  public static double zeroDegrees = 1.622;
+  public static double zeroDegrees = 0.1;
-  public static double ninetyDegrees = 3.234;
+  public static double ninetyDegrees = 0.7;
   public static int armPot = 0;
   public static int armLeftMotor = 5;
   public static int armRightMotor = 6;
-  public static int armBottomLim = 4;
-  public static int armTopLim = 5;
   //Shooter
   public static int shooterLeftMotor = 7;
   public static int shooterRightMotor = 8;
@@ -27,10 +25,9 @@ public class RobotMap {
   public static int armStopSolenoidOne = 4;
   public static int armStopSolenoidTwo = 5;
   //Misc
-  public static int mainArmPresetCollect = -5;
+  public static int mainArmPresetCollect = 0;
-  public static int mainArmPresetTraverse = 10;
+  public static int mainArmPresetTraverse = 5;
-  public static int mainArmPresetLowShot = 18;
+  public static int mainArmPresetCloseShot = 95;
-  public static int mainArmPresetCloseShot = 90;
+  public static int mainArmPresetFarShot = 85;
-  public static int mainArmPresetFarShot = 70;
 }
-// vim: sw=2:ts=2:sts=2
+// vim: sw=2:ts=2:sts=2

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

@@ -1,22 +0,0 @@
-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 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/Drive.java

@@ -1,21 +1,16 @@
-package org.usfirst.frc.team2059.robot.commands.drivetrain;
+package org.usfirst.frc.team2059.robot.commands;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
+import edu.wpi.first.wpilibj.command.Command;
-import org.usfirst.frc.team2059.robot.Robot;
 /**
  *
  */
-public class PIDDrive extends CommandBase {
+public class Drive extends Command {
-  double count;
+  public Drive() {
-  public PIDDrive(double c) {
-    requires(driveBase);
-    count = c;
   }
   // Called just before this Command runs the first time
   protected void initialize() {
   }
   // Called repeatedly when this Command is scheduled to run
   protected void execute() {
-    driveBase.pidDrive(count);
   }
   // Make this return true when this Command no longer needs to run execute()
   protected boolean isFinished() {
@@ -29,4 +24,4 @@ public class PIDDrive extends CommandBase {
   protected void interrupted() {
   }
 }
-// vim: sw=2:ts=2:sts=2
+// vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDrive.java

@@ -1,39 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-public class AutoDrive extends CommandBase {
-  private double distance;
-  // Determines if we should start driving
-  // Will be false if we already started driving
-  private boolean startDriving = true;
-  public AutoDrive(double distance, double timeout) {
-    requires(driveBase);
-    this.distance = distance;
-    setTimeout(timeout);
-  }
-  public AutoDrive(double distance) {
-    requires(driveBase);
-    this.distance = distance;
-    // Make the default timeout 2s
-    setTimeout(2.0d);
-  }
-  protected void initialize() {
-  }
-  protected void execute() {
-    if (startDriving) {
-      driveBase.pidDrive(distance);
-    }
-    startDriving = false;
-  }
-  protected void end() {
-    startDriving = true;
-    driveBase.stopDriving();
-  }
-  protected void interrupted() {
-    end();
-  }
-  protected boolean isFinished() {
-    return isTimedOut();
-  }
-}
-// vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java

@@ -1,26 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-public class AutoDriveTime extends CommandBase {
-  double power;
-  public AutoDriveTime(double timeout, double power) {
-    requires(driveBase);
-    this.power = power;
-    setTimeout(timeout);
-  }
-  protected void initialize() {
-  }
-  protected void execute() {
-    driveBase.driveArcade(0, -power, 0, 1);
-  }
-  protected void end() {
-    driveBase.stopDriving();
-  }
-  protected void interrupted() {
-    end();
-  }
-  protected boolean isFinished() {
-    return isTimedOut();
-  }
-}
-// vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoResetLower.java

@@ -1,37 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class AutoResetLower extends CommandBase {
-  double speed;
-  public AutoResetLower(double s) {
-    requires(mainArm);
-    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() {
-    System.out.println("test");
-    mainArm.disable();
-    mainArm.resetLower(speed);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    // Stop when bottom limit switch is hit
-    return mainArm.getBottomPressed(); 
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.moveArm(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/autonomous/AutoSetArmPosition.java

@@ -1,43 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-import org.usfirst.frc.team2059.robot.RobotMap;
-/**
- *
- */
-public class AutoSetArmPosition extends CommandBase {
-  double pos;
-  public AutoSetArmPosition(double p) {
-    requires(mainArm);
-    pos = p;
-    setTimeout(3);
-  }
-  // Called just before this Command runs the first time
-  protected void initialize() {
-  }
-  // Called repeatedly when this Command is scheduled to run
-  protected void execute() {
-    mainArm.enable();
-    mainArm.setSetpoint(pos);
-    System.out.println(pos - mainArm.getDegrees());
-    System.out.println(mainArm.getDegrees());
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    // Stop when either limit switch is hit
-    System.out.println("AutoSetArmPosition.isFinished(): " + (Math.abs(pos - mainArm.getDegrees()) <= 1));
-    System.out.println("  pos                  : " + pos);
-    System.out.println("  mainArm.getDegrees() : " + mainArm.getDegrees());
-    return (Math.abs(pos - mainArm.getDegrees()) <= 1) || isTimedOut();
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.disable();
-  }
-  // 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/autonomous/AutoSetArmStopState.java

@@ -1,32 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class AutoSetArmStopState extends CommandBase {
-  boolean state;
-  public AutoSetArmStopState(boolean s) {
-    state = 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() {
-    pneumatics.setArmStopState(state);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    return true;
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-  }
-  // 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/autonomous/RoutineDefenseTime.java

@@ -1,11 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import edu.wpi.first.wpilibj.command.CommandGroup;
-import org.usfirst.frc.team2059.robot.Robot;
-public class RoutineDefenseTime extends CommandGroup {
-  public RoutineDefenseTime() {
-    addSequential(new AutoSetArmStopState(false));
-    addSequential(new AutoSetArmPosition(6));
-    addSequential(new AutoDriveTime(1.5, 0.8));
-  }
-}

src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java

@@ -1,11 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import edu.wpi.first.wpilibj.command.CommandGroup;
-import org.usfirst.frc.team2059.robot.Robot;
-public class RoutineDriveTime extends CommandGroup {
-  public RoutineDriveTime() {
-    addSequential(new AutoSetArmStopState(true));
-    addSequential(new AutoResetLower(-1));
-    addSequential(new AutoDriveTime(1.5, 0.75));
-  }
-}

src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineNothing.java

@@ -1,8 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.autonomous;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import edu.wpi.first.wpilibj.command.CommandGroup;
-import org.usfirst.frc.team2059.robot.Robot;
-public class RoutineNothing extends CommandGroup {
-  public RoutineNothing() {
-  }
-}

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

@@ -1,39 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.drivetrain;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class Drive extends CommandBase {
-  double sensitivity = 0.5;
-  public Drive() {
-    requires(driveBase);
-  }
-  // Called just before this Command runs the first time
-  protected void initialize() {
-  }
-  // 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);
-    if (Robot.oi.getJoysticks()[0].getRawButton(2) || Robot.oi.getJoysticks()[0].getRawButton(11)) {
-      sensitivity = 1;
-    } else {
-      sensitivity = 0.7;
-    }
-    driveBase.driveArcade(x, y, z, sensitivity);
-  }
-  // 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() {
-  }
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  protected void interrupted() {
-  }
-}
-// vim: sw=2:ts=2:sts=2

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

@@ -1,28 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.drivetrain;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.structs.EncoderValues;
-public class LogEncoder  extends CommandBase {
-  public LogEncoder() {
-    requires(encoderBase);
-  }
-  protected void initialize() {
-  }
-  protected boolean isFinished() {
-    EncoderValues values = encoderBase.getValues();
-    System.out.println("==== Encoder log ====");
-    System.out.println("Count     : " + values.getCount());
-    System.out.println("Distance  : " + values.getDistance());
-    System.out.println("Period    : " + values.getPeriod());
-    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() {
-  }
-  protected void interrupted() {
-  }
-}
-// vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/drivetrain/ResetEncoder.java

@@ -1,20 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.drivetrain;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-public class ResetEncoder extends CommandBase {
-  public ResetEncoder() {
-    requires(encoderBase);
-  }
-  protected void initialize() {
-  }
-  protected boolean isFinished() {
-    return true;
-  }
-  protected void execute() {
-    encoderBase.resetEncoder();
-  }
-  protected void end() {
-  }
-  protected void interrupted() {
-  }
-}
-// vim: sw=2:ts=2:sts=2

src/org/usfirst/frc/team2059/robot/commands/shooter/MoveArm.java

@@ -1,38 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-/**
- *
- */
-public class MoveArm extends CommandBase {
-  double speed;
-  public MoveArm(double s) {
-    requires(mainArm);
-    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() {
-    mainArm.disable();
-    mainArm.moveArm(speed);
-    System.out.println(speed);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    //TODO: I don't know if this should go here
-    return false;
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.moveArm(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/shooter/ResetLower.java

@@ -1,36 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class ResetLower extends CommandBase {
-  double speed;
-  public ResetLower(double s) {
-    requires(mainArm);
-    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() {
-    mainArm.disable();
-    mainArm.resetLower(speed);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    // Stop when either limit switch is hit
-    return mainArm.getBottomPressed() || mainArm.getTopPressed();
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.moveArm(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/shooter/ResetUpper.java

@@ -1,37 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class ResetUpper extends CommandBase {
-  double speed;
-  public ResetUpper(double s) {
-    requires(mainArm);
-    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() {
-    System.out.println("testUpper");
-    mainArm.disable();
-    mainArm.resetUpper(speed);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    // Stop when either limit switch is hit
-    return mainArm.getBottomPressed() || mainArm.getTopPressed();
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.moveArm(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/shooter/SetArmPosition.java

@@ -1,38 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-import org.usfirst.frc.team2059.robot.RobotMap;
-/**
- *
- */
-public class SetArmPosition extends CommandBase {
-  double pos;
-  public SetArmPosition(double p) {
-    requires(mainArm);
-    pos = p;
-  }
-  // Called just before this Command runs the first time
-  protected void initialize() {
-  }
-  // Called repeatedly when this Command is scheduled to run
-  protected void execute() {
-    //Move the arm stop
-    mainArm.enable();
-    mainArm.setSetpoint(pos);
-  }
-  // Make this return true when this Command no longer needs to run execute()
-  protected boolean isFinished() {
-    // Stop when either limit switch is hit
-    return false;
-  }
-  // Called once after isFinished returns true
-  protected void end() {
-    mainArm.disable();
-  }
-  // 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/shooter/SetArmStopState.java

@@ -1,33 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class SetArmStopState extends CommandBase {
-  boolean state;
-  public SetArmStopState(boolean s) {
-    state = 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() {
-    pneumatics.setArmStopState(state);
-  }
-  // 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() {
-    pneumatics.setArmStopState(!state);
-  }
-  // 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/shooter/SetShooterState.java

@@ -1,33 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-import org.usfirst.frc.team2059.robot.commands.CommandBase;
-import org.usfirst.frc.team2059.robot.Robot;
-/**
- *
- */
-public class SetShooterState extends CommandBase {
-  boolean state;
-  public SetShooterState(boolean s) {
-    state = 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() {
-    pneumatics.setShooterState(state);
-  }
-  // 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() {
-    pneumatics.setShooterState(!state);
-  }
-  // 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/shooter/ShootAtSpeed.java

@@ -1,34 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-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/shooter/SpinRollers.java

@@ -1,40 +0,0 @@
-package org.usfirst.frc.team2059.robot.commands.shooter;
-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;
-  boolean smartrollers;
-  public SpinRollers(double s, boolean sr) {
-    speed = s;
-    smartrollers = sr;
-  }
-  // 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 (smartrollers && (mainArm.getDegrees() < 5 || mainArm.getBottomPressed())) {
-      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/structs/EncoderValues.java

@@ -1,33 +0,0 @@
-package org.usfirst.frc.team2059.robot.structs;
-public class EncoderValues {
-  private int count;
-  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;
-  }
-  public double getDistance() {
-    return distance;
-  }
-  public double getPeriod() {
-    return period;
-  }
-  public double getRate() {
-    return rate;
-  }
-  public boolean getDirection() {
-    return direction;
-  }
-  public boolean getStopped() {
-    return stopped;
-  }
-}
-// vim: sw=2:ts=2:sts=2

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

@@ -1,52 +0,0 @@
-package org.usfirst.frc.team2059.robot.subsystems;
-import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
-import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.PIDController;
-import edu.wpi.first.wpilibj.PIDOutput;
-import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.CANTalon;
-public class DriveBase extends Subsystem {
-  CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
-  CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
-  CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
-  CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorTwo);
-  Encoder leftEncoder = new Encoder(RobotMap.driveLeftEncoderA, RobotMap.driveLeftEncoderB, false, Encoder.EncodingType.k2X);
-  PIDController leftEncoderController = new PIDController(0.02, 0.002, 0.017, leftEncoder, new MotorsPIDOutput());
-  public void initDefaultCommand() {
-    setDefaultCommand(new Drive());
-  }
-  public void stopDriving() {
-    leftMotorOne.set(0);
-    leftMotorTwo.set(0);
-    rightMotorOne.set(0);
-    rightMotorTwo.set(0);
-  }
-  public void driveArcade(double x, double y, double z, double sensitivity) {
-    leftMotorOne.set((-y + (x + z)) * sensitivity);
-    leftMotorTwo.set((-y + (x + z)) * sensitivity);
-    rightMotorOne.set((y + (x + z)) * sensitivity);
-    rightMotorTwo.set((y + (x + z)) * sensitivity);
-  }
-  public void pidDrive(double setpoint) {
-    leftEncoder.reset();
-    leftEncoderController.enable();
-    leftEncoderController.setSetpoint(setpoint);
-  }
-  public PIDController getLeftController() {
-    return leftEncoderController;
-  }
-  public double getLeftRotations() {
-    return leftEncoder.get();
-  }
-  public class MotorsPIDOutput implements PIDOutput {
-    @Override
-    public void pidWrite(double output) {
-      leftMotorOne.pidWrite(output);
-      leftMotorTwo.pidWrite(output);
-      rightMotorOne.pidWrite(-output);
-      rightMotorTwo.pidWrite(-output);
-    }
-  }
-}
-// vim: sw=2:ts=2:sts=2

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

@@ -0,0 +1,21 @@
+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;
+public class Drivebase extends Subsystem {
+  CANTalon leftMotorOne = new CANTalon(RobotMap.driveLeftMotorOne);
+  CANTalon leftMotorTwo = new CANTalon(RobotMap.driveLeftMotorTwo);
+  CANTalon rightMotorOne = new CANTalon(RobotMap.driveRightMotorOne);
+  CANTalon rightMotorTwo = new CANTalon(RobotMap.driveRightMotorOne);
+  public void initDefaultCommand() {
+    setDefaultCommand(new Drive());
+  }
+  public void driveArcade(double x, double y, double z, double sensitivity) {
+    leftMotorOne.set(-y + (x + z));
+    leftMotorTwo.set(-y + (x + z));
+    rightMotorOne.set(y + (x + z));
+    rightMotorTwo.set(y + (x + z));
+  }
+}
+// vim: sw=2:ts=2:sts=2

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

@@ -1,33 +0,0 @@
-package org.usfirst.frc.team2059.robot.subsystems;
-import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
-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 {
-  //TODO: Might not need a constructor
-  public EncoderBase() {
-  }
-  //Encoder enc = new Encoder(0, 1, false, Encoder.EncodingType.k1X);
-  Encoder enc = new Encoder(8, 9);
-  public void initDefaultCommand() {
-    //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);
-  }
-  public void resetEncoder() {
-    enc.reset();
-  }
-  public EncoderValues getValues() {
-    //TODO: There are two ways to get distance:
-    //enc.getDistance();
-    //enc.getRaw();
-    //figure out which to use
-    return new EncoderValues(enc.get() , enc.getRaw() , enc.getPeriod() , enc.getRate() , enc.getDirection() , enc.getStopped());
-  }
-}
-// vim: sw=2:ts=2:sts=2

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

@@ -1,90 +0,0 @@
-package org.usfirst.frc.team2059.robot.subsystems;
-import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.Drive;
-import edu.wpi.first.wpilibj.command.PIDSubsystem;
-import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-public class MainArm extends PIDSubsystem {
-  CANTalon armMotorLeft = new CANTalon(RobotMap.armLeftMotor);
-  CANTalon armMotorRight = new CANTalon(RobotMap.armRightMotor);
-  AnalogInput pot = new AnalogInput(RobotMap.armPot);
-  DigitalInput limitSwitchBottom = new DigitalInput(RobotMap.armBottomLim);
-  DigitalInput limitSwitchTop = new DigitalInput(RobotMap.armTopLim);
-  private double min = RobotMap.zeroDegrees;
-  private double max = RobotMap.ninetyDegrees;
-  public MainArm() {
-    super("MainArm", 0.1, 0.0, 0.002);
-    getPIDController().setContinuous(false);
-    setSetpoint(70);
-    enable();
-  }
-  public void initDefaultCommand() {
-  }
-  public void moveArm(double speed) {
-    // Calibrate the arm, but don't do anything about it
-    calibrate();
-    armMotorLeft.set(-speed);
-    armMotorRight.set(speed);
-  }
-  protected double returnPIDInput() {
-    return getDegrees();
-  }
-  protected void usePIDOutput(double output) {
-    moveArm(output);
-  }
-  public double getRaw() {
-    return pot.getAverageVoltage();
-  }
-  public double getDegrees() {
-    return potToDegrees(getRaw());
-  }
-  public void resetLower(double speed) {
-    if (getBottomPressed()) {
-      moveArm(0);
-      return;
-    } else {
-      moveArm(speed);
-    }
-  }
-  public boolean getBottomPressed() {
-    return !limitSwitchBottom.get();
-  }
-  public void resetUpper(double speed) {
-    if (getTopPressed()) {
-      moveArm(0);
-      return;
-    } else {
-      moveArm(speed);
-    }
-  }
-  public boolean getTopPressed() {
-    return !limitSwitchTop.get();
-  }
-  private double potToDegrees(double pot) {
-    //System.out.println((pot - min) / (Math.abs(min - max) / 90));
-    return (pot - min) / (Math.abs(min - max) / 90);
-  }
-  /**
-   * Calibrates the arm if it hits the upper or lower limit switch
-   * @return True if it was calibrated (if either limit switch was pressed)
-   */
-  private boolean calibrate() {
-    // It can't be calibrated if the limit swithces are disabled
-    //if (!SmartDashboard.getBoolean("UseLimitSwitches")) {
-    //  return false;
-    //}
-    if (getBottomPressed()) {
-      System.out.println("Calibrating bottom to: " + getRaw());
-      min = getRaw();
-      return true;
-    } else if (getTopPressed()) {
-      System.out.println("Calibrating top to: " + getRaw());
-      max = getRaw();
-      return true;
-    }
-    return false;
-  }
-}
-// vim: sw=2:ts=2:sts=2

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

@@ -1,43 +0,0 @@
-package org.usfirst.frc.team2059.robot.subsystems;
-import org.usfirst.frc.team2059.robot.RobotMap;
-import org.usfirst.frc.team2059.robot.commands.drivetrain.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.pcmID, RobotMap.shooterSolenoidOne, RobotMap.shooterSolenoidTwo);
-  DoubleSolenoid armStopSolenoid = new DoubleSolenoid(RobotMap.pcmID, 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

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

@@ -1,15 +0,0 @@
-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