Merge pull request #5 from team1635/TestingRC

Latest Fallback Code

src/org/usfirst/frc/team1635/autonomous/AutonomousVisionLeft.java

@@ -19,9 +19,8 @@ public AutonomousVisionLeft() {
 		addSequential(new TurnToSetPointLi(RobotMap.autoLeftTurnRight, true));
 		addSequential(new DriveWithVision());
 		// next method takes double executionTime, double speed
-		addSequential(new TimeoutDriveWithCorrectionSlow(
-				RobotMap.autoVisionStraightTime
-				, RobotMap.autoVisionStraightSpeed));
+		addSequential(
+				new TimeoutDriveWithCorrectionSlow(RobotMap.autoVisionStraightTime, RobotMap.autoVisionStraightSpeed));
 		addSequential(new WiggleForward());
 	}
 }

src/org/usfirst/frc/team1635/robot/OI.java

@@ -1,8 +1,7 @@
 package org.usfirst.frc.team1635.robot;
 
-import org.usfirst.frc.team1635.robot.commands.GusGearIntake;
+import org.usfirst.frc.team1635.robot.commands.BottomOutElevator;
 
-import org.usfirst.frc.team1635.robot.commands.ShootBalls;
 import org.usfirst.frc.team1635.robot.commands.WiggleForward;
 //Local Package Imports
 import org.usfirst.frc.team1635.util.XboxControllerButton;
@@ -51,8 +50,8 @@ public class OI {
 	DPadButton dPadLeft = new DPadButton(gameController, DPadButton.Direction.Left);
 	DPadButton dPadRight = new DPadButton(gameController, DPadButton.Direction.Right);
 
-// -----------------------------------------------------------------------------------
-// For DualControllers
+	// -----------------------------------------------------------------------------------
+	// For DualControllers
 	public boolean globalA;
 	public boolean globalB;
 	public boolean globalX;
@@ -86,18 +85,15 @@ public void masterToSecondary(XboxController master, XboxController secondary) {
 		this.globalStartButton = master.getStartButton() || secondary.getStartButton();
 	}
 
-// ---------------------------------------------------------------------------------------
+	// ---------------------------------------------------------------------------------------
 
 	public OI() {
 		aButton.whenPressed(new WiggleForward());
 		aButton2.whenPressed(new WiggleForward());
 		// Don't use B - we switch camera with it.
 
-		dPadUp.whenPressed(new ShootBalls());
-		dPadUp2.whenPressed(new ShootBalls());
-
-		dPadDown.whenPressed(new GusGearIntake());
-		dPadDown2.whenPressed(new GusGearIntake());
+		dPadDown.whenPressed(new BottomOutElevator());
+		dPadDown2.whenPressed(new BottomOutElevator());
 		// dPadLeft.whenPressed(new PopGearWithFlapsDown());
 	}
 

src/org/usfirst/frc/team1635/robot/Robot.java

@@ -187,10 +187,12 @@ public void disabledInit() {
 	 */
 	public void teleopPeriodic() {
 		Scheduler.getInstance().run();
+		Robot.oi.masterToSecondary(Robot.oi.StartController(), Robot.oi.StartController2());
 		if (Robot.oi.globalB) {
 			Timer.delay(0.2);
 			forwardCameraOn = !(forwardCameraOn);
 		}
+
 		SmartDashboard.putBoolean("forwardCameraOn", forwardCameraOn);
 		// if (Robot.oi.gameController.getXButton()) {
 		// Timer.delay(0.2);

src/org/usfirst/frc/team1635/robot/RobotMap.java

@@ -19,9 +19,9 @@ public class RobotMap {
 	// ------------------------------------------------------------
 	// CAN IDs/Ports
 	public static int elevatorMotorCANPort = 3;
-	public static int elevatorRollerMotorCANPort = 2;
+	public static int elevatorRollerMotorCANPort;
 	// Drive
-	public static int frontLeftMotorCANPort = 4;
+	public static int frontLeftMotorCANPort = 2; // 4 Died Replacing with 2 
 	public static int frontRightMotorCANPort = 6;
 	public static int backLeftMotorCANPort = 1;
 	public static int backRightMotorCANPort = 5;

src/org/usfirst/frc/team1635/robot/commands/BottomOutElevator.java

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team1635.robot.commands;
+
+import org.usfirst.frc.team1635.robot.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class BottomOutElevator extends Command {
+	boolean isBottomedOut;
+
+	public BottomOutElevator() {
+		requires(Robot.elevatorSystem);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		isBottomedOut = Robot.elevatorSystem.IsElevatorBottomedOut();
+		Robot.elevatorSystem.setElevatorSpeed(-0.5);
+
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return isBottomedOut;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+		Robot.elevatorSystem.stopElevator();
+
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+		end();
+	}
+}

src/org/usfirst/frc/team1635/robot/control/ControlDrive.java

@@ -0,0 +1,57 @@
+package org.usfirst.frc.team1635.robot.control;
+
+//Local Package Imports
+import org.usfirst.frc.team1635.robot.Robot;
+//------------------------------------------------------------
+// WPILIB Imports 
+import edu.wpi.first.wpilibj.command.Command;
+//------------------------------------------------------------
+
+//.---.  ,--.    .-----. .------.  
+///_   | /  .'   /  -.   \|   ___|  
+//|   |.  / -.  '-' _'  ||  '--.   
+//|   || .-.  '    |_  < `---.  '. 
+//|   |' \  |  |.-.  |  |.-   |  | 
+//|   |\  `'  / \ `-'   /| `-'   / 
+//`---' `----'   `----''  `----''  
+
+/**
+ * 
+ * @author Bogdan Bradu & Miguel Cruz ( @Acelogic_)
+ *
+ */
+public class ControlDrive extends Command {
+
+	public ControlDrive() {
+		// Use requires() here to declare subsystem dependencies
+		requires(Robot.chassisSystem);
+
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		Robot.oi.masterToSecondary(Robot.oi.StartController(), Robot.oi.StartController2());
+		Robot.chassisSystem.drive();
+		Robot.chassisSystem.log();
+
+	}
+
+	// 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() {
+		Robot.chassisSystem.stop();
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+	}
+}

src/org/usfirst/frc/team1635/robot/commands/ControlElevator.java → src/org/usfirst/frc/team1635/robot/control/ControlElevator.java

@@ -1,4 +1,4 @@
-package org.usfirst.frc.team1635.robot.commands;
+package org.usfirst.frc.team1635.robot.control;
 
 import org.usfirst.frc.team1635.robot.Robot;
 
@@ -22,7 +22,6 @@ protected void initialize() {
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
 		Robot.elevatorSystem.controlElevator();
-		Robot.elevatorSystem.elevatorRollerControl();
 		Robot.elevatorSystem.log();
 	}