diff --git a/.classpath b/.classpath
index 64713af..4857be4 100644
--- a/.classpath
+++ b/.classpath
@@ -1,28 +1,12 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
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-
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+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/.gitignore b/.gitignore
index ae3c172..d4d3c5c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
/bin/
+
+\.gradle/4\.9/fileHashes/fileHashes\.lock
diff --git a/.gradle/4.9/fileChanges/last-build.bin b/.gradle/4.9/fileChanges/last-build.bin
new file mode 100644
index 0000000..f76dd23
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diff --git a/.gradle/4.9/fileContent/annotation-processors.bin b/.gradle/4.9/fileContent/annotation-processors.bin
new file mode 100644
index 0000000..005d38c
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diff --git a/.gradle/4.9/fileContent/fileContent.lock b/.gradle/4.9/fileContent/fileContent.lock
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index 0000000..a0adfba
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diff --git a/.gradle/4.9/fileHashes/fileHashes.bin b/.gradle/4.9/fileHashes/fileHashes.bin
new file mode 100644
index 0000000..4c42da8
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diff --git a/.gradle/4.9/fileHashes/resourceHashesCache.bin b/.gradle/4.9/fileHashes/resourceHashesCache.bin
new file mode 100644
index 0000000..9213fb1
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diff --git a/.gradle/4.9/taskHistory/taskHistory.bin b/.gradle/4.9/taskHistory/taskHistory.bin
new file mode 100644
index 0000000..7647fc4
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diff --git a/.gradle/4.9/taskHistory/taskHistory.lock b/.gradle/4.9/taskHistory/taskHistory.lock
new file mode 100644
index 0000000..8f69a73
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diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
new file mode 100644
index 0000000..fcca1c4
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diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000..c38b795
--- /dev/null
+++ b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Fri Dec 14 01:07:10 EST 2018
+gradle.version=4.9
diff --git a/.gradle/buildOutputCleanup/outputFiles.bin b/.gradle/buildOutputCleanup/outputFiles.bin
new file mode 100644
index 0000000..b49da53
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diff --git a/.gradle/vcsWorkingDirs/gc.properties b/.gradle/vcsWorkingDirs/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/.project b/.project
index 1bb8c9e..2a86b62 100644
--- a/.project
+++ b/.project
@@ -1,7 +1,7 @@
2018-robot-code
-
+ Project 2018-robot-code created by Buildship.
@@ -10,9 +10,14 @@
+
+ org.eclipse.buildship.core.gradleprojectbuilder
+
+
+
org.eclipse.jdt.core.javanature
- edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature
+ org.eclipse.buildship.core.gradleprojectnature
diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000..e889521
--- /dev/null
+++ b/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,2 @@
+connection.project.dir=
+eclipse.preferences.version=1
diff --git a/.settings/org.eclipse.jdt.core.prefs b/.settings/org.eclipse.jdt.core.prefs
deleted file mode 100644
index ace45ce..0000000
--- a/.settings/org.eclipse.jdt.core.prefs
+++ /dev/null
@@ -1,12 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.methodParameters=do not generate
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
-org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
-org.eclipse.jdt.core.compiler.compliance=1.8
-org.eclipse.jdt.core.compiler.debug.lineNumber=generate
-org.eclipse.jdt.core.compiler.debug.localVariable=generate
-org.eclipse.jdt.core.compiler.debug.sourceFile=generate
-org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
-org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
-org.eclipse.jdt.core.compiler.source=1.8
diff --git a/.settings/org.eclipse.ltk.core.refactoring.prefs b/.settings/org.eclipse.ltk.core.refactoring.prefs
deleted file mode 100644
index cfcd1d3..0000000
--- a/.settings/org.eclipse.ltk.core.refactoring.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.ltk.core.refactoring.enable.project.refactoring.history=false
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..c9c9713
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,21 @@
+{
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+ "version": "0.2.0",
+ "configurations": [
+
+ {
+ "type": "wpilib",
+ "name": "WPILib Desktop Debug",
+ "request": "launch",
+ "desktop": true,
+ },
+ {
+ "type": "wpilib",
+ "name": "WPILib roboRIO Debug",
+ "request": "launch",
+ "desktop": false,
+ }
+ ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..45ed221
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,15 @@
+{
+ "java.configuration.updateBuildConfiguration": "automatic",
+ "files.exclude": {
+ "**/.git": true,
+ "**/.svn": true,
+ "**/.hg": true,
+ "**/CVS": true,
+ "**/.DS_Store": true,
+ "bin/": true,
+ ".classpath": true,
+ ".project": true
+ },
+ "wpilib.online": true,
+ "java.home": "/usr/lib/jvm/java-8-openjdk-amd64"
+}
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..755006c
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,4 @@
+{
+ "currentLanguage": "java",
+ "teamNumber": 6325
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..4b6cceb
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,61 @@
+plugins {
+ id "java"
+ id "edu.wpi.first.GradleRIO" version "2019.0.0-alpha-3"
+}
+
+def ROBOT_CLASS = "org.usfirst.frc.team6325.robot.Robot"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+ targets {
+ target("roborio", edu.wpi.first.gradlerio.frc.RoboRIO) {
+ // Team number is loaded either from the .wpilib/wpilib_preferences.json
+ // or from command line. If not found an exception will be thrown.
+ // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+ // want to store a team number in this file.
+ team = getTeamOrDefault(6325)
+
+ locations {
+ ssh {
+ address = "roborio-6325-frc.lan"
+ user = "admin"
+ password = ""
+ ipv6 = false
+ }
+ }
+ }
+ }
+ artifacts {
+ artifact('frcJava', edu.wpi.first.gradlerio.frc.FRCJavaArtifact) {
+ targets << "roborio"
+ // Debug can be overridden by command line, for use with VSCode
+ debug = getDebugOrDefault(false)
+ }
+ }
+}
+
+// Defining my dependencies. In this case, WPILib (+ friends), CTRE Toolsuite (Talon SRX)
+// and NavX.
+dependencies {
+ compile fileTree(include: ['*.jar'], dir: 'jars')
+}
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+ from configurations.compile.collect { it.isDirectory() ? it : zipTree(it) }
+ manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_CLASS)
+}
+
+// Force Java 8 Compatibility mode for deployed code, in case the develoment
+// system is using Java 10.
+compileJava {
+ sourceCompatibility = 1.8
+ targetCompatibility = 1.8
+}
+
+wrapper {
+ gradleVersion = '4.9'
+}
diff --git a/build.properties b/build.properties
deleted file mode 100644
index 5c0cde5..0000000
--- a/build.properties
+++ /dev/null
@@ -1,4 +0,0 @@
-# Project specific information
-package=org.usfirst.frc.team6325.robot
-robot.class=${package}.Robot
-simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
\ No newline at end of file
diff --git a/build.xml b/build.xml
deleted file mode 100644
index 76fd29a..0000000
--- a/build.xml
+++ /dev/null
@@ -1,30 +0,0 @@
-
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diff --git a/build/classes/java/main/org/usfirst/frc/team6325/robot/ButtonSelection$ButtonMapMode.class b/build/classes/java/main/org/usfirst/frc/team6325/robot/ButtonSelection$ButtonMapMode.class
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similarity index 91%
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diff --git a/build/tmp/expandedArchives/wpiutil-cpp-3.2.0-linuxathena.zip_b3c0854cbf80984db4dae519ac88ea3b/linux/athena/shared/libwpiutil.so b/build/tmp/expandedArchives/wpiutil-cpp-3.2.0-linuxathena.zip_b3c0854cbf80984db4dae519ac88ea3b/linux/athena/shared/libwpiutil.so
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diff --git a/build/tmp/jar/MANIFEST.MF b/build/tmp/jar/MANIFEST.MF
new file mode 100644
index 0000000..6d3bd27
--- /dev/null
+++ b/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,4 @@
+Manifest-Version: 1.0
+Robot-Class: org.usfirst.frc.team6325.robot.Robot
+Main-Class: edu.wpi.first.wpilibj.RobotBase
+
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
new file mode 100644
index 0000000..0d4a951
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diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..a95009c
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=wrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.9-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100755
index 0000000..cccdd3d
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,172 @@
+#!/usr/bin/env sh
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS=""
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=$((i+1))
+ done
+ case $i in
+ (0) set -- ;;
+ (1) set -- "$args0" ;;
+ (2) set -- "$args0" "$args1" ;;
+ (3) set -- "$args0" "$args1" "$args2" ;;
+ (4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=$(save "$@")
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+# by default we should be in the correct project dir, but when run from Finder on Mac, the cwd is wrong
+if [ "$(uname)" = "Darwin" ] && [ "$HOME" = "$PWD" ]; then
+ cd "$(dirname "$0")"
+fi
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..e95643d
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,84 @@
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS=
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/jars/CTRE_Phoenix-sources.jar b/jars/CTRE_Phoenix-sources.jar
index 9e342da..547e8bf 100644
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diff --git a/jars/CTRE_Phoenix.jar b/jars/CTRE_Phoenix.jar
index 64375af..6a958d4 100644
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diff --git a/jars/CTRE_Phoenix_WPIAPI-sources.jar b/jars/CTRE_Phoenix_WPIAPI-sources.jar
new file mode 100644
index 0000000..06f7ccb
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diff --git a/jars/CTRE_Phoenix_WPIAPI.jar b/jars/CTRE_Phoenix_WPIAPI.jar
new file mode 100644
index 0000000..e77f188
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diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..3b58236
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,6 @@
+pluginManagement {
+ repositories {
+ mavenLocal()
+ gradlePluginPortal()
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/ButtonSelection.java b/src/main/java/org/usfirst/frc/team6325/robot/ButtonSelection.java
new file mode 100644
index 0000000..ab8f270
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/ButtonSelection.java
@@ -0,0 +1,57 @@
+package org.usfirst.frc.team6325.robot;
+
+import edu.wpi.first.wpilibj.buttons.*;
+import org.usfirst.frc.team6325.robot.IDConfig;
+import org.usfirst.frc.team6325.robot.OI;
+
+import java.util.*;
+
+
+public class ButtonSelection
+{
+ IDConfig ids = new IDConfig();
+ OI oi = new OI();
+
+ public Hashtable competitionButtons = new Hashtable();
+ public Hashtable competitionDrivetrainAxes = new Hashtable();
+ public Hashtable paradeButtons = new Hashtable();
+ public Hashtable paradeDrivetrainAxes = new Hashtable();
+ public Hashtable outreachButtons = new Hashtable();
+ public Hashtable outreachDrivetrainAxes = new Hashtable();
+
+ public enum ButtonMapMode
+ {
+ COMPETITION("competition"),
+ PARADE("parade"),
+ OUTREACH("outreach");
+
+ private final String name;
+
+ ButtonMapMode(String name){ this.name = name; }
+
+ public String getName(){ return name; }
+ }
+
+ public ButtonSelection()
+ {
+ competitionButtons.put("shiftDrivetrain", new JoystickButton(oi.joystickLeft, ids.joystickLeftIDs.get("Trigger")));
+ competitionButtons.put("backBeltsIn", new JoystickButton(oi.xboxController, ids.xboxIDs.get("B-Button")));
+ competitionButtons.put("backBeltsOut", new JoystickButton(oi.xboxController, ids.xboxIDs.get("X-Button")));
+ competitionButtons.put("toggleIntakePistons", new JoystickButton(oi.joystickRight, ids.joystickRightIDs.get("Trigger")));
+ competitionButtons.put("intakeWheelsForward", new JoystickButton(oi.joystickLeft, ids.joystickLeftIDs.get("Top-Button-Top-Right")));
+ competitionButtons.put("IntakeWheelsReverse" , new JoystickButton(oi.joystickRight, ids.joystickRightIDs.get("Top-Button-Top-Left")));
+ competitionButtons.put("stopIntakes", new JoystickButton(oi.joystickRight, ids.joystickRightIDs.get("Side-Thumb")));
+ competitionButtons.put("liftWheelsOut", new JoystickButton(oi.xboxController, ids.xboxIDs.get("A-Button")));
+ competitionButtons.put("liftWheelsIn", new JoystickButton(oi.xboxController, ids.xboxIDs.get("Y-Button")));
+ competitionDrivetrainAxes.put("Tank-Left-Joystick-Drive", -Robot.oi.joystickLeft.getY());
+ competitionDrivetrainAxes.put("Tank-Right-Joystick-Drive", -Robot.oi.joystickRight.getY());
+ competitionDrivetrainAxes.put("Arcade-Joystick-Drive-Y", Robot.oi.joystickLeft.getY());
+ competitionDrivetrainAxes.put("Arcade-Joystick-Drive-X", Robot.oi.joystickLeft.getX());
+
+ paradeButtons.put("shiftDrivetrain", new JoystickButton(oi.xboxController, ids.xboxIDs.get("Right-Bumper")));
+ paradeDrivetrainAxes.put("Tank-Left-Joystick-Drive", Robot.oi.xboxJoystickLeft.getY());
+ paradeDrivetrainAxes.put("Tank-Right-Joystick-Drive", Robot.oi.xboxJoystickRight.getY());
+ paradeDrivetrainAxes.put("Arcade-Joystick-Drive-Y", Robot.oi.xboxJoystickLeft.getY());
+ paradeDrivetrainAxes.put("Arcade-Joystick-Drive-X", Robot.oi.xboxJoystickLeft.getX());
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/IDConfig.java b/src/main/java/org/usfirst/frc/team6325/robot/IDConfig.java
similarity index 80%
rename from src/org/usfirst/frc/team6325/robot/IDConfig.java
rename to src/main/java/org/usfirst/frc/team6325/robot/IDConfig.java
index 796cba9..ff29981 100644
--- a/src/org/usfirst/frc/team6325/robot/IDConfig.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/IDConfig.java
@@ -1,15 +1,5 @@
package org.usfirst.frc.team6325.robot;
-import org.usfirst.frc.team6325.robot.commands.Drive.*;
-import org.usfirst.frc.team6325.robot.commands.Intake.*;
-import org.usfirst.frc.team6325.robot.commands.Lift.*;
-import org.usfirst.frc.team6325.robot.subsystems.Lift.Positions;
-
-import edu.wpi.first.wpilibj.GenericHID.Hand;
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.buttons.*;
-
import java.util.*;
@@ -58,5 +48,7 @@ public IDConfig ()
xboxIDs.put("Back-Button", 7);
xboxIDs.put("Left-Joystick-Button", 8);
xboxIDs.put("Right-Joystick-Button", 9);
+ xboxIDs.put("Left-Joystick-Y-Axis", 1);
+ xboxIDs.put("Right-Joystick-Y-Axis", 5);
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_Preferences.bot b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_Preferences.bot
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_Preferences.bot
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_Preferences.bot
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_left_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/Baseline/Baseline_right_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LScale1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/LeftSide/LScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftScaleOneCube/RightSide/LScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LS1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/LeftSide/LS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/LeftSwitchOneCube/RightSide/LS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/LeftSide/MScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/MScale1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleScaleOneCube/RightSide/MScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/LeftSide/old/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/MS1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchOneCube/RightSide/old/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CNewCube_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/MS2CScoreCube_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/LeftSide/old/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CNewCubeRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/MS2CScoreCubeRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CNewCube_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/MS2CScoreCube_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/MiddleSwitchTwoCube/RightSide/old/MS1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_Preferences.bot b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_Preferences.bot
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_Preferences.bot
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_Preferences.bot
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_left_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidLeftSwitch/MidLeftSwitch_right_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_Preferences.bot b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_Preferences.bot
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_Preferences.bot
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_Preferences.bot
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_left_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/MidRightSwitch/MidRightSwitch_right_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_Preferences.bot b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_Preferences.bot
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_Preferences.bot
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_Preferences.bot
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_left_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/NewMidRightSwitch/NewMidRightSwitch_right_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_Preferences.bot b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_Preferences.bot
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_Preferences.bot
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_Preferences.bot
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_left_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right_detailed.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right_detailed.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right_detailed.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/OldProfiles/RStartRScale/RStartRScale_right_detailed.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/LeftSide/RScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RScale1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightScaleOneCube/RightSide/RScale1C_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/LeftSide/RS1CLeftSide_source.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CLeftSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CLeftSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CLeftSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CLeftSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CRightSide.xml b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CRightSide.xml
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CRightSide.xml
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RS1CRightSide.xml
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_left.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_left.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_left.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_left.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_right.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_right.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_right.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_right.csv
diff --git a/src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_source.csv b/src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_source.csv
similarity index 100%
rename from src/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_source.csv
rename to src/main/java/org/usfirst/frc/team6325/robot/MotionProfiles/RightSwitchOneCube/RightSide/RS1CRightSide_source.csv
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/OI.java b/src/main/java/org/usfirst/frc/team6325/robot/OI.java
new file mode 100644
index 0000000..19f5ba0
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/OI.java
@@ -0,0 +1,117 @@
+package org.usfirst.frc.team6325.robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import org.usfirst.frc.team6325.robot.commands.Drive.*;
+import org.usfirst.frc.team6325.robot.commands.Intake.*;
+import org.usfirst.frc.team6325.robot.commands.Lift.*;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.buttons.*;
+
+import org.usfirst.frc.team6325.robot.IDConfig;
+//import org.usfirst.frc.team6325.robot.ButtonSelection;
+//import org.usfirst.frc.team6325.robot.ButtonSelection.ButtonMapMode;
+
+/**
+ * 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
+{
+ IDConfig ids = new IDConfig();
+ //ButtonSelection btns = new ButtonSelection();
+ //public String selectedDrivetrain = "TankJoystickDrive";
+ //public Command selectedDrivetrainCommand;
+
+ public Joystick joystickLeft = new Joystick(ids.joystickLeftIDs.get("USB-ID"));
+ public Joystick joystickRight = new Joystick(ids.joystickRightIDs.get("USB-ID"));
+ public XboxController xboxController = new XboxController(ids.xboxIDs.get("USB-ID"));
+ public Joystick xboxJoystickLeft = new Joystick(ids.xboxIDs.get("Left-Joystick-Y-Axis"));
+ public Joystick xboxJoystickRight = new Joystick(ids.xboxIDs.get("Right-Joystick-Y-Axis"));
+ public double sliderRawAxisNumber = joystickLeft.getRawAxis(ids.joystickLeftIDs.get("SliderAxis"));
+ public Button shiftDrivetrain = new JoystickButton(joystickLeft, ids.joystickLeftIDs.get("Trigger"));
+ public Button backBeltsIn = new JoystickButton(xboxController, ids.xboxIDs.get("B-Button"));
+ public Button backBeltsOut = new JoystickButton(xboxController, ids.xboxIDs.get("X-Button"));
+ public Button toggleIntakePistons = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Trigger"));
+ public Button intakeWheelsForward = new JoystickButton(joystickLeft, ids.joystickLeftIDs.get("Top-Button-Top-Right"));
+ public Button intakeWheelsReverse = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Top-Button-Top-Left"));
+ public Button stopIntakes = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Side-Thumb"));
+ public Button liftWheelsOut = new JoystickButton(xboxController, ids.xboxIDs.get("A-Button"));
+ public Button liftWheelsIn = new JoystickButton(xboxController, ids.xboxIDs.get("Y-Button"));
+ public double drivetrainLeft = -joystickLeft.getY();
+ public double drivetrainRight = -joystickRight.getY();
+ //public Button drivetrainTank, drivetrainArcade;
+
+
+
+ public OI ()
+ {
+ //buttonMapModeChooser.addDefault(ButtonMapMode.COMPETITION.getName(), ButtonMapMode.COMPETITION);
+ //buttonMapModeChooser.addObject(ButtonMapMode.PARADE.getName(), ButtonMapMode.PARADE);
+ //buttonMapModeChooser.addObject(ButtonMapMode.OUTREACH.getName(), ButtonMapMode.OUTREACH);
+ //ButtonMapMode mapMode = buttonMapModeChooser.getSelected();
+ //SmartDashboard.putData("Button Mapping Mode", buttonMapModeChooser);
+
+
+ //selectedDrivetrainCommand = new TankJoystickDrive();
+ //drivetrainLeft = -joystickLeft.getY();
+ //drivetrainRight = -joystickRight.getY();
+ /*if (selectedDrivetrain == "ArcadeJoystickDrive")
+ {
+ selectedDrivetrainCommand = new ArcadeJoystickDrive();
+ drivetrainLeft = joystickLeft.getY() + joystickLeft.getX();
+ drivetrainRight = joystickLeft.getY() - joystickLeft.getX();
+ }*/
+ /*if (mapMode.getName() == "parade")
+ {
+ shiftDrivetrain = btns.paradeButtons.get("shiftDrivetrain");
+ drivetrainTank = new JoystickButton(Robot.oi.xboxController, ids.xboxIDs.get("X-Button"));
+ drivetrainArcade = new JoystickButton(Robot.oi.xboxController, ids.xboxIDs.get("B-Button"));
+
+
+ if (selectedDrivetrain == "TankJoystickDrive")
+ {
+ selectedDrivetrainCommand = new TankJoystickDrive();
+ drivetrainLeft = btns.paradeDrivetrainAxes.get("Tank-Left-Joystick-Drive");
+ drivetrainRight = btns.paradeDrivetrainAxes.get("Tank-Right-Joystick-Drive");
+ }
+ if (selectedDrivetrain == "ArcadeJoystickDrive")
+ {
+ selectedDrivetrainCommand = new ArcadeJoystickDrive();
+ drivetrainLeft = btns.paradeDrivetrainAxes.get("Arcade-Joystick-Drive-Y") + btns.paradeDrivetrainAxes.get("Arcade-Joystick-Drive-X");
+ drivetrainRight = btns.paradeDrivetrainAxes.get("Arcade-Joystick-Drive-Y") - btns.paradeDrivetrainAxes.get("Arcade-Joystick-Drive-X");
+ }
+ }*/
+
+ shiftDrivetrain.whenPressed(new ShiftTransmission());
+ backBeltsIn.whenPressed(new BackIntakeForward(0));
+ toggleIntakePistons.whenPressed(new ToggleClamp());
+
+ intakeWheelsReverse.whileHeld(new SpinIntakeWheels(-1));
+ intakeWheelsReverse.whileHeld(new LiftIntake(1));
+ intakeWheelsReverse.whenReleased(new LiftIntake(0));
+
+
+ stopIntakes.whenPressed(new StopIntakeWheels());
+ stopIntakes.whenPressed(new LiftIntake(0));
+
+ intakeWheelsForward.whileHeld(new SpinIntakeWheels(1));
+ intakeWheelsForward.whileHeld(new LiftOuttake());
+
+ liftWheelsOut.whileHeld(new LiftOuttake());
+ liftWheelsOut.whenReleased(new LiftIntake(0));
+
+ liftWheelsIn.whileHeld(new LiftIntake(-1));
+ liftWheelsIn.whenReleased(new LiftIntake(0));
+
+ backBeltsIn.whileHeld(new BackIntakeForward(0.5));
+ backBeltsOut.whileHeld(new BackIntakeForward(-0.5));
+
+ /*drivetrainTank.whenPressed(new TypeToggleTank());
+ drivetrainArcade.whenReleased(new TypeToggleArcade());*/
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/Paths/Center.java b/src/main/java/org/usfirst/frc/team6325/robot/Paths/Center.java
new file mode 100644
index 0000000..52ae8d5
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/Paths/Center.java
@@ -0,0 +1,21 @@
+package org.usfirst.frc.team6325.robot.Paths;
+
+import jaci.pathfinder.Pathfinder;
+import jaci.pathfinder.Waypoint;
+
+public class Center
+{
+ public static Waypoint[] toLeftSwitch = new Waypoint[]
+ {
+ new Waypoint(0.0, 0.0, Pathfinder.d2r(0.0)),
+ new Waypoint(8.2, 3.3, Pathfinder.d2r(0.0)),
+ };
+
+ public static Waypoint[] toRightSwitch = new Waypoint[]
+ {
+ new Waypoint(0.0, 0.0, Pathfinder.d2r(0.0)),
+ new Waypoint(8.2, -3.3, Pathfinder.d2r(0.0)),
+ };
+}
+
+
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/Robot.java b/src/main/java/org/usfirst/frc/team6325/robot/Robot.java
new file mode 100644
index 0000000..321fade
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/Robot.java
@@ -0,0 +1,252 @@
+package org.usfirst.frc.team6325.robot;
+
+
+//import edu.wpi.cscore.UsbCamera;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+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;
+import org.usfirst.frc.team6325.robot.commands.Auto.AutoChooser.*;
+import org.usfirst.frc.team6325.robot.commands.Auto.AutoPathSelector;
+import org.usfirst.frc.team6325.robot.commands.Auto.GamedataFetcher;
+import org.usfirst.frc.team6325.robot.commands.Drive.ArcadeJoystickDrive;
+import org.usfirst.frc.team6325.robot.commands.Drive.ResetGyro;
+import org.usfirst.frc.team6325.robot.subsystems.BackBelts;
+import org.usfirst.frc.team6325.robot.subsystems.Drivetrain;
+import org.usfirst.frc.team6325.robot.subsystems.Intake;
+import org.usfirst.frc.team6325.robot.subsystems.Lift;
+import org.usfirst.frc.team6325.robot.subsystems.LiftIntake;
+
+
+/**
+ * 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 final Lift lift = new Lift();
+ public static final Drivetrain drivetrain = new Drivetrain();
+ public static final Intake intake = new Intake();
+ public static final LiftIntake liftIntake = new LiftIntake();
+ public static final BackBelts backBelts = new BackBelts();
+ public static OI oi;
+ public double start, time;
+ Command autonomousCommand; // this command holds which autonomous command is selected
+ SendableChooser chooser = new SendableChooser<>(); // creates a sendable chooser for part of our autonomous command
+ SendableChooser positionChooser = new SendableChooser<>(); // creates a sendable chooser for the starting position of our autonomous command
+ SendableChooser preferenceChooser = new SendableChooser<>(); // creates a sendable chooser for the scoring objective of our autonomous command
+ SendableChooser cubesChooser = new SendableChooser<>(); // creates a sendable chooser for the amount of cubes to be scored by our autonomous command
+
+ /**
+ * This function is run when the robot is first started up and should be
+ * used for any initialization code.
+ */
+ @Override
+ public void robotInit()
+ {
+ oi = new OI();
+ chooser.addDefault("Default Auto", new ArcadeJoystickDrive());
+ positionChooser.addDefault(AutoPosition.MIDDLE.getName(), AutoPosition.MIDDLE);
+ positionChooser.addObject(AutoPosition.LEFT.getName(), AutoPosition.LEFT);
+ positionChooser.addObject(AutoPosition.RIGHT.getName(), AutoPosition.RIGHT);
+ preferenceChooser.addDefault(AutoPreference.SWITCH.getName(), AutoPreference.SWITCH);
+ preferenceChooser.addObject(AutoPreference.SCALE.getName(), AutoPreference.SCALE);
+ preferenceChooser.addObject(AutoPreference.SIMPLE.getName(), AutoPreference.SIMPLE);
+ preferenceChooser.addObject(AutoPreference.BASELINE.getName(), AutoPreference.BASELINE);
+ cubesChooser.addDefault(AutoCubes.ONE.getName(), AutoCubes.ONE);
+ cubesChooser.addObject(AutoCubes.TWO.getName(), AutoCubes.TWO);
+ cubesChooser.addObject(AutoCubes.THREE.getName(), AutoCubes.THREE);
+ cubesChooser.addObject(AutoCubes.ONEONE.getName(), AutoCubes.ONEONE);
+ cubesChooser.addObject(AutoCubes.ONETWO.getName(), AutoCubes.ONETWO);
+
+ SmartDashboard.putData("Auto Mode", chooser);
+ SmartDashboard.putData("Auto Position", positionChooser);
+ SmartDashboard.putData("Auto Preference", preferenceChooser);
+ SmartDashboard.putData("Auto Cubes", cubesChooser);
+ SmartDashboard.putData("Reset Gyro", new ResetGyro());
+ }
+
+
+ @Override
+ public void disabledPeriodic()
+ {
+ Scheduler.getInstance().run();
+ SmartDashboard.putData("Auto Mode", chooser);
+ SmartDashboard.putData("Auto Position", positionChooser);
+ SmartDashboard.putData("Auto Preference", preferenceChooser);
+ SmartDashboard.putData("Auto Cubes", cubesChooser);
+ SmartDashboard.putData("Reset Gyro", new ResetGyro());
+ }
+
+
+ @Override
+ public void autonomousInit()
+ {
+ AutoPosition position = positionChooser.getSelected();
+ System.err.println("position = " + position);
+ AutoPreference preference = preferenceChooser.getSelected();
+ System.err.println("preference = " + preference);
+ AutoCubes cubes = cubesChooser.getSelected();
+ System.err.println("cubes = " + cubes);
+ String classNameString = ("AutoPathSelector." + position.getName() + preference.getName() + "." + cubes.getName());
+ System.err.println(classNameString);
+ GamedataFetcher gamedata = new GamedataFetcher();
+
+ if (position.getName() == "Middle")
+ {
+ if (preference.getName() == "Switch")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
+ }
+ if (preference.getName() == "Scale")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
+ }
+ }
+ if (position.getName() == "Left")
+ {
+ if (preference.getName() == "Switch")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
+ }
+ if (preference.getName() == "Scale")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
+ }
+ }
+ if (position.getName() == "Right")
+ {
+ if (preference.getName() == "Switch")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
+ }
+ if (preference.getName() == "Scale")
+ {
+ if (cubes.getName() == "One")
+ autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Two")
+ autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "Three")
+ autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneOne")
+ autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
+ if (cubes.getName() == "OneTwo")
+ autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
+ }
+ }
+
+
+ if (preference.getName() == "Baseline")
+ autonomousCommand = new AutoPathSelector.Baseline();
+
+ Robot.drivetrain.resetEncoders();
+ Robot.intake.clampIn();
+ Robot.drivetrain.navx.zeroYaw();
+ Robot.drivetrain.shiftIn();
+ if (autonomousCommand != null)
+ autonomousCommand.start();
+ }
+
+ /**
+ * This function is called periodically during autonomous
+ */
+ @Override
+ public void autonomousPeriodic()
+ {
+ Scheduler.getInstance().run();
+ SmartDashboard.putNumber("Enc value left drive", Robot.drivetrain.getEncoderRawLeft());
+ SmartDashboard.putNumber("Enc value right drive", Robot.drivetrain.getEncoderRawRight());
+ SmartDashboard.putNumber("Gyro Yaw", Robot.drivetrain.navx.getYaw());
+ }
+
+ @Override
+ 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
+ */
+ Robot.drivetrain.navx.zeroYaw();
+ Robot.drivetrain.resetEncoders();
+ Robot.lift.resetEncoders();
+ if (autonomousCommand != null)
+ autonomousCommand.cancel();
+ }
+
+ /**
+ * This function is called periodically during operator control
+ */
+ @Override
+ public void teleopPeriodic()
+ {
+ Scheduler.getInstance().run();
+ SmartDashboard.putNumber("Enc value left drive", Robot.drivetrain.getEncoderRawLeft());
+ SmartDashboard.putNumber("Enc value right drive", Robot.drivetrain.getEncoderRawRight());
+ SmartDashboard.putNumber("Enc value left lift", Robot.lift.leftMaster.getSelectedSensorPosition());
+ SmartDashboard.putNumber("Enc value right Lift", Robot.lift.rightMaster.getSelectedSensorPosition());
+ SmartDashboard.putNumber("Gyro Yaw", Robot.drivetrain.navx.getYaw());
+ SmartDashboard.putNumber("Gyro Angle", Robot.drivetrain.navx.getAngle());
+ }
+
+ /**
+ * This function is called periodically during test mode
+ */
+ @Override
+ public void testPeriodic()
+ {
+ LiveWindow.run();
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/RobotMap.java b/src/main/java/org/usfirst/frc/team6325/robot/RobotMap.java
similarity index 95%
rename from src/org/usfirst/frc/team6325/robot/RobotMap.java
rename to src/main/java/org/usfirst/frc/team6325/robot/RobotMap.java
index b4df421..fe3abb6 100644
--- a/src/org/usfirst/frc/team6325/robot/RobotMap.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/RobotMap.java
@@ -6,7 +6,8 @@
* the wiring easier and significantly reduces the number of magic numbers
* floating around.
*/
-public class RobotMap {
+public class RobotMap
+{
// Left Drive Motors
public static int masterRight = 2;
public static int frontRight = 7;
@@ -24,6 +25,7 @@ public class RobotMap {
public static int leftIntakeWheel = 2;
public static int liftWheel = 3;
+ // Solenoid Ports
public static final int[] SHIFTER_PORTS = {0,1};
public static final int [] INTAKE = {2,3};
}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java
new file mode 100644
index 0000000..c2aac79
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java
@@ -0,0 +1,48 @@
+package org.usfirst.frc.team6325.robot.commands.Auto;
+
+
+public class AutoChooser
+{
+ public enum AutoPosition
+ {
+ LEFT("Left"),
+ MIDDLE("Middle"),
+ RIGHT("Right");
+
+ private final String name;
+
+ AutoPosition(String name){ this.name = name; }
+
+ public String getName(){ return name; }
+ }
+
+ public enum AutoPreference
+ {
+ SCALE("Scale"),
+ SWITCH("Switch"),
+ SIMPLE("Simple"),
+ BASELINE("Baseline");
+
+ private final String name;
+
+ AutoPreference(String name){ this.name = name; }
+
+ public String getName(){ return name; }
+ }
+
+ public enum AutoCubes
+ {
+ ONE("One"),
+ TWO("Two"),
+ THREE("Three"),
+ ONEONE("OneOne"),
+ ONETWO("OneTwo");
+
+
+ private final String name;
+
+ AutoCubes(String name){ this.name = name; }
+
+ public String getName(){ return name; }
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java
similarity index 98%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java
index 521daaa..ef3e549 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoPathSelector.java
@@ -4,13 +4,7 @@
import org.usfirst.frc.team6325.robot.commands.Intake.*;
import org.usfirst.frc.team6325.robot.commands.Lift.*;
import org.usfirst.frc.team6325.robot.subsystems.Lift;
-
-import com.sun.org.apache.xml.internal.utils.CharKey;
-
-import org.usfirst.frc.team6325.robot.Robot;
import org.usfirst.frc.team6325.robot.commands.Auto.GamedataFetcher;
-
-import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class AutoPathSelector extends CommandGroup
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java
similarity index 67%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java
index d1a2c96..064e4f1 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/AutoSwitchTurn.java
@@ -1,59 +1,61 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.Robot;
-
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.Command;
-public class AutoSwitchTurn extends Command {
+public class AutoSwitchTurn extends Command
+{
double ang = 0.0;
boolean done = false;
- public AutoSwitchTurn() {
+ public AutoSwitchTurn()
+ {
requires(Robot.drivetrain);
}
- protected void initialize() {
+ protected void initialize()
+ {
String gameData;
gameData = DriverStation.getInstance().getGameSpecificMessage();
- if(gameData.length() > 0)
- {
- if(gameData.charAt(0) == 'L')
- {
- ang = -45;
- } else {
- ang = 45;
- }
- }
+ if(gameData.length() > 0)
+ {
+ if(gameData.charAt(0) == 'L')
+ ang = -45;
+ else
+ ang = 45;
+ }
Robot.drivetrain.autoTurnInit(ang);
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
+ protected void execute()
+ {
Robot.drivetrain.autoTurn();
- if(Math.abs(Robot.drivetrain.getAngle() - ang) <= 5) {
+ if(Math.abs(Robot.drivetrain.getAngle() - ang) <= 5)
done = true;
- }
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return done;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.autoTurnStop();
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
- protected void interrupted() {
+ protected void interrupted()
+ {
Robot.drivetrain.autoTurnStop();
Robot.drivetrain.killMotors();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java
similarity index 72%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java
index 7b0928e..7166d4e 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/CenterAutoTest.java
@@ -2,15 +2,16 @@
import org.usfirst.frc.team6325.robot.Paths.Center;
import org.usfirst.frc.team6325.robot.commands.Drive.WaypointFollower;
-import org.usfirst.frc.team6325.robot.commands.Lift.BackIntakeForward;
-
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.CommandGroup;
-public class CenterAutoTest extends CommandGroup {
+
+public class CenterAutoTest extends CommandGroup
+{
Command driveToSwitch = new WaypointFollower(Center.toLeftSwitch);
- public CenterAutoTest() {
+ public CenterAutoTest()
+ {
addSequential(driveToSwitch);
}
}
\ No newline at end of file
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java
similarity index 58%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java
index b7badd2..84e9e5d 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/DriveForward.java
@@ -1,50 +1,39 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.subsystems.Drivetrain.MotionProfiling;
-
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.command.Command;
-/**
- *
- */
-public class DriveForward extends Command {
+
+public class DriveForward extends Command
+{
public static double turnSpeed;
private double moveLeftSpeed, moveRightSpeed, distance, angle;
private PIDController moveLeftController, moveRightController, angleController;
- public DriveForward(double dist) {
+ public DriveForward(double dist)
+ {
distance = dist;
}
- private double ticksToInches(double ticks) {
+ private double ticksToInches(double ticks)
+ {
return (ticks / MotionProfiling.ticks_per_rev) * MotionProfiling.wheel_circumference;
}
- private double inchesToTicks(double inches) {
+ private double inchesToTicks(double inches)
+ {
return (inches / MotionProfiling.ticks_per_rev) * MotionProfiling.wheel_circumference;
}
// Called just before this Command runs the first time
- protected void initialize() {
+ protected void initialize()
+ {
double targetTicks = inchesToTicks(distance);
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- protected void execute() {
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ 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() {
- }
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java
similarity index 99%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java
index 60ec003..3384a11 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/GamedataFetcher.java
@@ -2,6 +2,7 @@
import edu.wpi.first.wpilibj.DriverStation;
+
public class GamedataFetcher
{
public char switchSide = ' ';
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java
similarity index 82%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java
index 54952e5..13e3e72 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MidSwitch.java
@@ -1,19 +1,20 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
-import org.usfirst.frc.team6325.robot.commands.Drive.ProfileFollower;
import org.usfirst.frc.team6325.robot.commands.Drive.ProfileFollowerUpdate;
import org.usfirst.frc.team6325.robot.commands.Lift.BackIntakeForward;
import org.usfirst.frc.team6325.robot.commands.Lift.LiftIntake;
-import org.usfirst.frc.team6325.robot.commands.Lift.LiftOuttake;
-
import edu.wpi.first.wpilibj.command.CommandGroup;
-public class MidSwitch extends CommandGroup {
- public MidSwitch(char side) {
+public class MidSwitch extends CommandGroup
+{
+
+ public MidSwitch(char side)
+ {
System.err.println("MidSwitch.");
- if(side == 'R') {
+ if(side == 'R')
+ {
System.err.println("right side initiated");
addSequential(new ProfileFollowerUpdate("/home/lvuser/MotionProfiles/MidRightSwitch/MidRightSwitch_left_detailed.csv",
"/home/lvuser/MotionProfiles/MidRightSwitch/MidRightSwitch_right_detailed.csv"));
@@ -21,7 +22,8 @@ public MidSwitch(char side) {
addSequential(new LiftIntake(-1));
addSequential(new BackIntakeForward(-0.5));
}
- else if(side == 'L'){
+ else if(side == 'L')
+ {
System.err.println("left side initiated");
addSequential(new ProfileFollowerUpdate("/home/lvuser/MotionProfiles/MidLeftSwitch/MidLeftSwitch_left_detailed.csv",
"/home/lvuser/MotionProfiles/MidLeftSwitch/MidLeftSwitch_right_detailed.csv"));
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java
similarity index 77%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java
index b6a0470..881bfcd 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveDistance.java
@@ -1,55 +1,59 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.Robot;
-
import edu.wpi.first.wpilibj.command.Command;
-public class MoveDistance extends Command {
+public class MoveDistance extends Command
+{
private double dist;
private double spd;
private boolean done = false;
double start, time, timeout;
- public MoveDistance(double meters, double speed, double timeout) {
+ public MoveDistance(double meters, double speed, double timeout)
+ {
dist = meters;
spd = speed;
this.timeout = timeout;
requires(Robot.drivetrain);
}
- protected void initialize() {
+ protected void initialize()
+ {
Robot.drivetrain.resetEncoders();
Robot.drivetrain.drive(spd, spd);
start = System.currentTimeMillis();
-
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
+ protected void execute()
+ {
time = System.currentTimeMillis();
- if(Robot.drivetrain.getEncoderDistanceMetersLeft() >= dist || time-start >= timeout) {
-
+ if(Robot.drivetrain.getEncoderDistanceMetersLeft() >= dist || time-start >= timeout)
+ {
done = true;
Robot.drivetrain.killMotors();
}
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return done;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.killMotors();
Robot.drivetrain.resetEncoders();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java
similarity index 68%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java
index 378e919..02e1997 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/MoveLift.java
@@ -1,52 +1,45 @@
-
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.Robot;
-import org.usfirst.frc.team6325.robot.subsystems.Lift;
-
import edu.wpi.first.wpilibj.command.Command;
-public class MoveLift extends Command {
-
+public class MoveLift extends Command
+{
int height;
boolean done = false;
- public MoveLift(int tallness) {
+ public MoveLift(int tallness)
+ {
requires(Robot.lift);
height = tallness;
-
}
- protected void initialize() {
+ protected void initialize()
+ {
//set lift encoders to 0
Robot.lift.resetEncoders();
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
+ protected void execute()
+ {
System.err.println(Robot.lift.getQuadPos(0));
Robot.lift.moveToPos(height);
if (Robot.lift.getQuadPos(0) >= height - 50 && Robot.lift.getQuadPos(0) <= height + 50)
- {
done = true;
- }
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return done;
}
- // 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() {
+ protected void interrupted()
+ {
end();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java
similarity index 67%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java
index aeed29d..c03e280 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoScaleLeft.java
@@ -1,21 +1,22 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
-import org.usfirst.frc.team6325.robot.commands.Lift.BackIntakeForward;
import org.usfirst.frc.team6325.robot.commands.Lift.LiftIntake;
-import org.usfirst.frc.team6325.robot.commands.Lift.LiftIntakeEject;
-
import edu.wpi.first.wpilibj.command.CommandGroup;
-public class SimpleAutoScaleLeft extends CommandGroup {
-
- public SimpleAutoScaleLeft(char switchSide) {
- if(switchSide == 'L') {
+public class SimpleAutoScaleLeft extends CommandGroup
+{
+ public SimpleAutoScaleLeft(char switchSide)
+ {
+ if(switchSide == 'L')
+ {
addSequential(new MoveDistance(5, 0.5, 100000));
addSequential(new TurnToAngleStupid(15));
addSequential(new MoveDistance(4, 0.5, 100000));
//RaiseLift
addSequential(new LiftIntake(-1));
- } else if(switchSide =='R') {
+ }
+ else if(switchSide =='R')
+ {
addSequential(new MoveDistance(5, 0.5, 100000));
addSequential(new TurnToAngleStupid(90));
addSequential(new MoveDistance(4.5, 0.5, 100000));
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java
similarity index 71%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java
index 2465dfc..5e81f03 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/SimpleAutoSwitch.java
@@ -1,22 +1,24 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
-import org.usfirst.frc.team6325.robot.commands.Lift.BackIntakeForward;
import org.usfirst.frc.team6325.robot.commands.Lift.LiftIntake;
-import org.usfirst.frc.team6325.robot.commands.Lift.LiftIntakeEject;
-
import edu.wpi.first.wpilibj.command.CommandGroup;
-public class SimpleAutoSwitch extends CommandGroup {
- public SimpleAutoSwitch(char switchSide) {
- if(switchSide == 'R') {
+public class SimpleAutoSwitch extends CommandGroup
+{
+
+ public SimpleAutoSwitch(char switchSide)
+ {
+ if(switchSide == 'R')
+ {
addSequential(new MoveDistance(2, 0.5, 100000));
addSequential(new TurnToAngleStupid(40));
addSequential(new MoveDistance(4, 0.5, 100000));
addSequential(new TurnToAngleStupid(10));
addSequential(new MoveDistance(2.5, 0.3, 3000));
addSequential(new LiftIntake(-1));
- } else if(switchSide =='L') {
+ } else if(switchSide =='L')
+ {
addSequential(new MoveDistance(2, 0.5, 100000));
addSequential(new TurnToAngleStupid(-40));
addSequential(new MoveDistance(4.5, 0.5, 100000));
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java
similarity index 72%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java
index e203f0b..bf34eaf 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TimeBasedDriveForward.java
@@ -1,49 +1,49 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.Robot;
-
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
-
import edu.wpi.first.wpilibj.command.Command;
-public class TimeBasedDriveForward extends Command {
-
+public class TimeBasedDriveForward extends Command
+{
double time = 0.0;
double start = 0.0, currentTime = 0.0, leftPower = 0.0, rightPower = 0.0;
- public TimeBasedDriveForward(double leftPower, double rightPower, double time) {
+ public TimeBasedDriveForward(double leftPower, double rightPower, double time)
+ {
requires(Robot.drivetrain);
this.leftPower = leftPower;
this.rightPower = rightPower;
this.time = time;
-
-
}
- protected void initialize() {
+ protected void initialize()
+ {
start = System.currentTimeMillis();
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
+ protected void execute()
+ {
currentTime = System.currentTimeMillis();
Robot.drivetrain.drive(leftPower, rightPower);
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return (currentTime>=start+time);
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java
similarity index 70%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java
index 5a39c78..cade504 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngle.java
@@ -5,45 +5,48 @@
import edu.wpi.first.wpilibj.command.Command;
-public class TurnToAngle extends Command {
-
+public class TurnToAngle extends Command
+{
double ang = 0.0;
boolean done = false;
- public TurnToAngle(double angle) {
+ public TurnToAngle(double angle)
+ {
requires(Robot.drivetrain);
ang = angle;
-
}
- protected void initialize() {
+ protected void initialize()
+ {
Robot.drivetrain.autoTurnInit(ang);
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
+ protected void execute()
+ {
Robot.drivetrain.autoTurn();
- if(Math.abs(Robot.drivetrain.getAngle() - ang) <= 5) {
+ if(Math.abs(Robot.drivetrain.getAngle() - ang) <= 5)
done = true;
- }
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return done;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.autoTurnStop();
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java
similarity index 66%
rename from src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java
index ee9f0f7..9d473b7 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Auto/TurnToAngleStupid.java
@@ -2,60 +2,62 @@
package org.usfirst.frc.team6325.robot.commands.Auto;
import org.usfirst.frc.team6325.robot.Robot;
-
import edu.wpi.first.wpilibj.command.Command;
-public class TurnToAngleStupid extends Command {
-
+public class TurnToAngleStupid extends Command
+{
double ang = 0.0;
double diff = 0.0;
boolean done = false;
- public TurnToAngleStupid(double angle) {
+ public TurnToAngleStupid(double angle)
+ {
requires(Robot.drivetrain);
ang = angle;
-
}
- protected void initialize() {
+ protected void initialize()
+ {
diff = ang - Robot.drivetrain.getAngle();
- if(diff > 0) {
+ if(diff > 0)
Robot.drivetrain.drive(0.3, -0.3);
- } else {
+ else
Robot.drivetrain.drive(-0.3, 0.3);
- }
-
}
// Called repeatedly when this Command is scheduled to run
- protected void execute() {
- if(diff > 0) {
- if(Robot.drivetrain.getAngle() > ang) {
+ protected void execute()
+ {
+ if(diff > 0)
+ {
+ if(Robot.drivetrain.getAngle() > ang)
done = true;
- }
- } else {
- if(Robot.drivetrain.getAngle() < ang) {
+ }
+ else
+ {
+ if(Robot.drivetrain.getAngle() < ang)
done = true;
- }
}
}
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return done;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.autoTurnStop();
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java
similarity index 60%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java
index cd6b929..8d577fd 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ArcadeJoystickDrive.java
@@ -5,45 +5,42 @@
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class ArcadeJoystickDrive extends Command {
- public ArcadeJoystickDrive() {
+public class ArcadeJoystickDrive extends Command
+{
+ public ArcadeJoystickDrive()
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.drivetrain);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
- double left = Robot.oi.joystickLeft.getY() + Robot.oi.joystickLeft.getX();
- double right = Robot.oi.joystickRight.getY() - Robot.oi.joystickRight.getX();
+ protected void execute()
+ {
+ double left = Robot.oi.drivetrainLeft;
+ double right = Robot.oi.drivetrainRight;
Robot.drivetrain.drive (left, right);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
Robot.drivetrain.killMotors();
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java
similarity index 68%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java
index 1101454..9f6896e 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollower.java
@@ -5,40 +5,46 @@
import jaci.pathfinder.followers.EncoderFollower;
-public class ProfileFollower extends Command {
+public class ProfileFollower extends Command
+{
String leftCSV, rightCSV;
EncoderFollower[] followers;
- public ProfileFollower(String leftCSV, String rightCSV) {
+
+ public ProfileFollower(String leftCSV, String rightCSV)
+ {
leftCSV = this.leftCSV;
rightCSV = this.rightCSV;
setInterruptible(false);
followers = Robot.drivetrain.initPath(leftCSV, rightCSV);
}
+
@Override
- protected void initialize() {
-
+ protected void initialize()
+ {
Robot.drivetrain.executePath(followers, false);
}
+
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.drivetrain.executePath(followers, false);
-
- }
+ }
+
@Override
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.drive(0, 0);
}
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
@Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
+ protected boolean isFinished()
+ {
return Robot.drivetrain.getIsProfileFinished();
}
-
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java
similarity index 73%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java
index d80ba65..e2a61b5 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerReverse.java
@@ -1,28 +1,23 @@
package org.usfirst.frc.team6325.robot.commands.Drive;
import java.io.File;
-
import org.usfirst.frc.team6325.robot.Robot;
-import org.usfirst.frc.team6325.robot.subsystems.Drivetrain;
-
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
-
+import com.ctre.phoenix.motorcontrol.can.*;
import edu.wpi.first.wpilibj.command.Command;
import jaci.pathfinder.Pathfinder;
import jaci.pathfinder.Trajectory;
import jaci.pathfinder.followers.EncoderFollower;
-public class ProfileFollowerReverse extends Command {
- private final TalonSRX leftMotor;
- private final TalonSRX rightMotor;
- private EncoderFollower left;
- private EncoderFollower right;
- private final Trajectory leftTra;
- private final Trajectory rightTra;
+public class ProfileFollowerReverse extends Command
+{
+ private final WPI_TalonSRX leftMotor, rightMotor;
+ private EncoderFollower left, right;
+ private final Trajectory leftTra, rightTra;
- public ProfileFollowerReverse(String leftCSV, String rightCSV) {
+ public ProfileFollowerReverse(String leftCSV, String rightCSV)
+ {
requires(Robot.drivetrain);
File leftMotionProfile = new File(leftCSV);
File rightMotionProfile = new File(rightCSV);
@@ -37,7 +32,8 @@ public ProfileFollowerReverse(String leftCSV, String rightCSV) {
* The initialize method is called the first time this Command is run after being started.
*/
@Override
- protected void initialize() {
+ protected void initialize()
+ {
super.initialize();
Robot.drivetrain.navx.zeroYaw();
Robot.drivetrain.resetEncoders();
@@ -45,8 +41,11 @@ protected void initialize() {
left = new EncoderFollower(leftTra);
right = new EncoderFollower(rightTra);
- left.configureEncoder(leftMotor.getSelectedSensorPosition(0), 4096*7, 0.5);
- right.configureEncoder(rightMotor.getSelectedSensorPosition(0), 4096*7, 0.5);
+ int leftEncPosRounded = (int) Math.round(leftMotor.getSelectedSensorPosition());
+ int rightEncPosRounded = (int) Math.round(rightMotor.getSelectedSensorPosition());
+
+ left.configureEncoder(leftEncPosRounded, 4096*7, 0.5);
+ right.configureEncoder(rightEncPosRounded, 4096*7, 0.5);
double max_velocity = 1.0 / 4.0;
left.configurePIDVA(0.9, 0.0, 0.7, max_velocity, 0);
@@ -59,7 +58,8 @@ protected void initialize() {
* like shutting off a motor that was being used in the command.
*/
@Override
- protected void end() {
+ protected void end()
+ {
super.end();
Robot.drivetrain.drive(0, 0);
}
@@ -75,7 +75,8 @@ protected void end() {
* method, as done here.
*/
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
super.interrupted();
end();
}
@@ -84,13 +85,17 @@ protected void interrupted() {
* The execute method is called repeatedly until this Command either finishes or is canceled.
*/
@Override
- protected void execute() {
+ protected void execute()
+ {
super.execute();
//System.err.println("Execute ProfileFollower.");
// DriveTrain._leftMain.configOpenloopRamp(0, 500);
//DriveTrain._rightMain.configOpenloopRamp(0, 500);
- double l = left.calculate(-leftMotor.getSelectedSensorPosition(0));
- double r = right.calculate(-rightMotor.getSelectedSensorPosition(0));
+ int leftEncPos = (int) Math.round(-leftMotor.getSelectedSensorPosition());
+ int rightEncPos = (int) Math.round(-rightMotor.getSelectedSensorPosition());
+
+ double l = left.calculate(leftEncPos);
+ double r = right.calculate(rightEncPos);
double gyro_heading = Robot.drivetrain.navx.getAngle();
@@ -103,13 +108,12 @@ protected void execute() {
System.out.println("Right: " + (-r-turn));
Robot.drivetrain.drive(-l+turn, -r-turn);
-
-
}
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return left.isFinished() && right.isFinished();
}
}
\ No newline at end of file
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java
similarity index 78%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java
index 7ebcbc6..772f143 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ProfileFollowerUpdate.java
@@ -1,28 +1,23 @@
package org.usfirst.frc.team6325.robot.commands.Drive;
import java.io.File;
-
import org.usfirst.frc.team6325.robot.Robot;
-import org.usfirst.frc.team6325.robot.subsystems.Drivetrain;
-
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
-
+import com.ctre.phoenix.motorcontrol.can.*;
import edu.wpi.first.wpilibj.command.Command;
import jaci.pathfinder.Pathfinder;
import jaci.pathfinder.Trajectory;
import jaci.pathfinder.followers.EncoderFollower;
-public class ProfileFollowerUpdate extends Command {
- private final TalonSRX leftMotor;
- private final TalonSRX rightMotor;
- private EncoderFollower left;
- private EncoderFollower right;
- private final Trajectory leftTra;
- private final Trajectory rightTra;
+public class ProfileFollowerUpdate extends Command
+{
+ private final WPI_TalonSRX leftMotor, rightMotor;
+ private EncoderFollower left, right;
+ private final Trajectory leftTra, rightTra;
- public ProfileFollowerUpdate(String leftCSV, String rightCSV) {
+ public ProfileFollowerUpdate(String leftCSV, String rightCSV)
+ {
requires(Robot.drivetrain);
File leftMotionProfile = new File(leftCSV);
File rightMotionProfile = new File(rightCSV);
@@ -37,7 +32,8 @@ public ProfileFollowerUpdate(String leftCSV, String rightCSV) {
* The initialize method is called the first time this Command is run after being started.
*/
@Override
- protected void initialize() {
+ protected void initialize()
+ {
super.initialize();
Robot.drivetrain.navx.zeroYaw();
Robot.drivetrain.resetEncoders();
@@ -45,8 +41,8 @@ protected void initialize() {
left = new EncoderFollower(leftTra);
right = new EncoderFollower(rightTra);
- left.configureEncoder(leftMotor.getSelectedSensorPosition(0), 30000, 0.5);
- right.configureEncoder(rightMotor.getSelectedSensorPosition(0), 30000, 0.5);
+ left.configureEncoder((int) Math.round(leftMotor.getSelectedSensorPosition()), 30000, 0.5);
+ right.configureEncoder((int) Math.round(rightMotor.getSelectedSensorPosition()), 30000, 0.5);
double max_velocity = 1.0 / 4.0;
left.configurePIDVA(0.4, 0.0, 0.07, max_velocity, 0);
@@ -58,7 +54,8 @@ protected void initialize() {
* like shutting off a motor that was being used in the command.
*/
@Override
- protected void end() {
+ protected void end()
+ {
super.end();
Robot.drivetrain.drive(0, 0);
}
@@ -74,7 +71,8 @@ protected void end() {
* method, as done here.
*/
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
super.interrupted();
end();
}
@@ -83,13 +81,14 @@ protected void interrupted() {
* The execute method is called repeatedly until this Command either finishes or is canceled.
*/
@Override
- protected void execute() {
+ protected void execute()
+ {
super.execute();
//System.err.println("Execute ProfileFollower.");
// DriveTrain._leftMain.configOpenloopRamp(0, 500);
//DriveTrain._rightMain.configOpenloopRamp(0, 500);
- double l = left.calculate(leftMotor.getSelectedSensorPosition(0));
- double r = right.calculate(rightMotor.getSelectedSensorPosition(0));
+ double l = left.calculate((int) Math.round(leftMotor.getSelectedSensorPosition()));
+ double r = right.calculate((int) Math.round(rightMotor.getSelectedSensorPosition()));
double gyro_heading = Robot.drivetrain.navx.getAngle();
double desired_heading = Pathfinder.r2d(left.getHeading());
double angleDifference = Pathfinder.boundHalfDegrees(desired_heading - gyro_heading);
@@ -100,12 +99,11 @@ protected void execute() {
System.out.println("Left + turn: " + (l+turn));
System.out.println("Right + turn: " + (r-turn));
Robot.drivetrain.drive(l+turn, r-turn);
-
-
}
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return left.isFinished() && right.isFinished();
}
}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java
new file mode 100644
index 0000000..5526f75
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class ResetGyro extends Command
+{
+ public ResetGyro()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.drivetrain);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize()
+ {
+ Robot.drivetrain.resetGyro();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java
new file mode 100644
index 0000000..74dee91
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class ShiftIn extends Command
+{
+ public ShiftIn()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.drivetrain.shiftIn();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java
new file mode 100644
index 0000000..0822a00
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team6325.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class ShiftOut extends Command
+{
+
+ public ShiftOut()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.drivetrain.shiftOut();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java
similarity index 50%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java
index 6b82334..26c782d 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/ShiftTransmission.java
@@ -1,47 +1,27 @@
package org.usfirst.frc.team6325.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class ShiftTransmission extends Command {
+public class ShiftTransmission extends Command
+{
public ShiftTransmission() {
// Use requires() here to declare subsystem dependencies
requires(Robot.drivetrain);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.drivetrain.shift();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return true;
}
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java
similarity index 50%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java
index a4f62e3..e46fce0 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TankJoystickDrive.java
@@ -1,56 +1,53 @@
package org.usfirst.frc.team6325.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.IDConfig;
+//import org.usfirst.frc.team6325.robot.ButtonSelection;
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class TankJoystickDrive extends Command {
- public TankJoystickDrive() {
+public class TankJoystickDrive extends Command
+{
+ public TankJoystickDrive()
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.drivetrain);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
- IDConfig ids = new IDConfig();
- double sliderRawAxisNumber = Robot.oi.joystickLeft.getRawAxis(ids.joystickLeftIDs.get("SliderAxis"));
- double sliderModifier = 1 - ((sliderRawAxisNumber + 1)/2);
- System.err.println("SliderModifer is " + sliderModifier);
+ protected void execute()
+ {
+ //ButtonSelection btns = new ButtonSelection();
+
+ //double sliderRawAxisNumber = Robot.oi.joystickLeft.getRawAxis(ids.joystickLeftIDs.get("SliderAxis"));
+ double sliderModifier = 1 - ((Robot.oi.sliderRawAxisNumber + 1)/2);
+ //System.err.println("SliderModifer is " + sliderModifier);
double left = -Robot.oi.joystickLeft.getY() * sliderModifier;
- //System.err.println("left joystick output number is " + left);
+ System.err.println("left joystick output number is " + left);
double right = -Robot.oi.joystickRight.getY() * sliderModifier;
- //System.err.println("right joystick output number is " + right);
+ System.err.println("right joystick output number is " + right);
Robot.drivetrain.drive(left, right);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.killMotors();
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
- Robot.drivetrain.killMotors();
+ protected void interrupted()
+ {
+ Robot.drivetrain.killMotors();
}
}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleArcade.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleArcade.java
new file mode 100644
index 0000000..ee98344
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleArcade.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class TypeToggleArcade extends Command
+{
+ public TypeToggleArcade()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ //Robot.oi.selectedDrivetrain = "ArcadeJoystickDrive";
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleTank.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleTank.java
new file mode 100644
index 0000000..3e1d7fd
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/TypeToggleTank.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Drive;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class TypeToggleTank extends Command
+{
+ public TypeToggleTank()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ //Robot.oi.selectedDrivetrain = "TankJoystickDrive";
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java
similarity index 70%
rename from src/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java
index d1949d8..558cac7 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Drive/WaypointFollower.java
@@ -6,39 +6,42 @@
import jaci.pathfinder.followers.EncoderFollower;
-public class WaypointFollower extends Command {
+public class WaypointFollower extends Command
+{
Waypoint[] path;
EncoderFollower[] followers;
- public WaypointFollower(Waypoint[] path) {
+ public WaypointFollower(Waypoint[] path)
+ {
this.path = path;
setInterruptible(false);
followers = Robot.drivetrain.initPath(path);
}
@Override
- protected void initialize() {
+ protected void initialize()
+ {
Robot.drivetrain.resetForPath();
Robot.drivetrain.executePath(followers, false);
}
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.drivetrain.executePath(followers, false);
-
- }
+ }
@Override
- protected void end() {
+ protected void end()
+ {
Robot.drivetrain.drive(0, 0);
}
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
-
@Override
- protected boolean isFinished() {
- // TODO Auto-generated method stub
+ protected boolean isFinished()
+ {
return Robot.drivetrain.getIsProfileFinished();
}
-
-}
+}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java
new file mode 100644
index 0000000..b0f1fb9
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java
@@ -0,0 +1,29 @@
+package org.usfirst.frc.team6325.robot.commands.Intake;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class ClampIn extends Command
+{
+ public ClampIn()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.intake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+
+ Robot.intake.clampIn();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java
new file mode 100644
index 0000000..fdd1c91
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java
@@ -0,0 +1,33 @@
+package org.usfirst.frc.team6325.robot.commands.Intake;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+/**
+ *
+ */
+public class ClampOut extends Command
+{
+ public ClampOut()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.intake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+
+ Robot.intake.clampOut();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java
similarity index 69%
rename from src/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java
index 9936b53..277f3cc 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/SpinIntakeWheels.java
@@ -1,49 +1,45 @@
package org.usfirst.frc.team6325.robot.commands.Intake;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class SpinIntakeWheels extends Command {
+public class SpinIntakeWheels extends Command
+{
public double power;
- public SpinIntakeWheels(double pow) {
+ public SpinIntakeWheels(double pow)
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.intake);
power = pow;
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.intake.setIntakePower(power);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.intake.setIntakePower(0);
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
}
\ No newline at end of file
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java
new file mode 100644
index 0000000..ef98c34
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Intake;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class StopIntakeWheels extends Command
+{
+ public StopIntakeWheels()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.intake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.intake.setIntakePower(0);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java
new file mode 100644
index 0000000..afdb6bc
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java
@@ -0,0 +1,26 @@
+package org.usfirst.frc.team6325.robot.commands.Intake;
+
+import org.usfirst.frc.team6325.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+
+
+public class ToggleClamp extends Command
+{
+ public ToggleClamp()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.intake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ protected void execute()
+ {
+ Robot.intake.toggleClamp();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ protected boolean isFinished()
+ {
+ return true;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java
similarity index 78%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java
index 6aacdc5..99d1834 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BackIntakeForward.java
@@ -1,16 +1,14 @@
package org.usfirst.frc.team6325.robot.commands.Lift;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class BackIntakeForward extends Command {
+public class BackIntakeForward extends Command
+{
double pow, startTime, time;
- public BackIntakeForward(double pow) {
+ public BackIntakeForward(double pow)
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.backBelts);
this.pow = pow;
@@ -18,34 +16,39 @@ public BackIntakeForward(double pow) {
// Called just before this Command runs the first time
@Override
- protected void initialize() {
+ protected void initialize()
+ {
startTime = System.currentTimeMillis();
}
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.backBelts.moveBackBelts(pow);
time = System.currentTimeMillis();
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.backBelts.moveBackBelts(0);
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java
similarity index 56%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java
index eb26633..73df0ef 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/BangBang.java
@@ -1,41 +1,35 @@
package org.usfirst.frc.team6325.robot.commands.Lift;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class BangBang extends Command {
+public class BangBang extends Command
+{
double setpoint;
- public BangBang(int ticks) {
+ public BangBang(int ticks)
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.lift);
this.setpoint = ticks;
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
- if(Robot.lift.getQuadPos(0) < setpoint) {
+ protected void execute()
+ {
+ if(Robot.lift.getQuadPos(0) < setpoint)
Robot.lift.moveLift(0.7);
- }
else
Robot.lift.moveLift(-0.7);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
- if(Math.abs(setpoint - Robot.lift.getQuadPos(0)) < 1024) {
+ protected boolean isFinished()
+ {
+ if(Math.abs(setpoint - Robot.lift.getQuadPos(0)) < 1024)
+ {
Robot.lift.moveLift(0);
return true;
}
@@ -44,14 +38,8 @@ protected boolean isFinished() {
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.lift.moveLift(0);
}
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java
new file mode 100644
index 0000000..bd8e4de
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java
@@ -0,0 +1,30 @@
+package org.usfirst.frc.team6325.robot.commands.Lift;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class JoystickBackIntake extends Command
+{
+
+ public JoystickBackIntake()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.backBelts);
+
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.backBelts.moveBackBelts(-Robot.oi.xboxController.getRawAxis(5));
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java
new file mode 100644
index 0000000..c93f27a
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Lift;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class JoystickLift extends Command
+{
+ public JoystickLift()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.lift);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.lift.moveLift(-Robot.oi.xboxController.getRawAxis(1));
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java
new file mode 100644
index 0000000..193ddbb
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Lift;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class JoystickLiftIntake extends Command
+{
+ public JoystickLiftIntake()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.liftIntake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.liftIntake.spinLiftIntake(Robot.oi.xboxController.getRawAxis(5));
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java
similarity index 70%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java
index 7bb5c41..8d59ab6 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntake.java
@@ -1,49 +1,45 @@
package org.usfirst.frc.team6325.robot.commands.Lift;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class LiftIntake extends Command {
+public class LiftIntake extends Command
+{
double pow;
- public LiftIntake(double pow) {
+ public LiftIntake(double pow)
+ {
// Use requires() here to declare subsystem dependencies
this.pow = pow;
requires(Robot.liftIntake);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.liftIntake.spinLiftIntake(pow);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.liftIntake.spinLiftIntake(0);
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java
similarity index 68%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java
index 3e09d73..797c68c 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeEject.java
@@ -1,40 +1,35 @@
package org.usfirst.frc.team6325.robot.commands.Lift;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class LiftIntakeEject extends Command {
- public LiftIntakeEject() {
+public class LiftIntakeEject extends Command
+{
+ public LiftIntakeEject()
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.liftIntake);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.liftIntake.spinLiftIntake(1);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.liftIntake.spinLiftIntake(0);
}
@@ -42,8 +37,8 @@ protected void end() {
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
-
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java
similarity index 68%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java
index fd8d399..a43e386 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftIntakeReverse.java
@@ -1,49 +1,43 @@
package org.usfirst.frc.team6325.robot.commands.Lift;
import edu.wpi.first.wpilibj.command.Command;
-
import org.usfirst.frc.team6325.robot.Robot;
-/**
- *
- */
-public class LiftIntakeReverse extends Command {
- public LiftIntakeReverse() {
+public class LiftIntakeReverse extends Command
+{
+ public LiftIntakeReverse()
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.liftIntake);
}
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
// Called repeatedly when this Command is scheduled to run
@Override
- protected void execute() {
+ protected void execute()
+ {
Robot.liftIntake.spinLiftIntake(-1);
}
// Make this return true when this Command no longer needs to run execute()
@Override
- protected boolean isFinished() {
+ protected boolean isFinished()
+ {
return false;
}
// Called once after isFinished returns true
@Override
- protected void end() {
+ protected void end()
+ {
Robot.liftIntake.spinLiftIntake(0);
-
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
@Override
- protected void interrupted() {
+ protected void interrupted()
+ {
end();
-
}
}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java
new file mode 100644
index 0000000..838f5a3
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Lift;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class LiftOuttake extends Command
+{
+ public LiftOuttake()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.liftIntake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.liftIntake.spinLiftIntake(1);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java
similarity index 63%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java
index d033e60..466269f 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftMotionMagic.java
@@ -2,48 +2,39 @@
import org.usfirst.frc.team6325.robot.Robot;
import org.usfirst.frc.team6325.robot.subsystems.Lift;
-
import edu.wpi.first.wpilibj.command.Command;
-/**
- *
- */
-public class RunLiftMotionMagic extends Command {
+
+public class RunLiftMotionMagic extends Command
+{
private Lift.Positions position;
- public RunLiftMotionMagic(Lift.Positions pos) {
+ public RunLiftMotionMagic(Lift.Positions pos)
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.lift);
this.position = pos;
}
// Called just before this Command runs the first time
- protected void initialize() {
+ protected void initialize()
+ {
Robot.lift.moveLift(0);
Robot.lift.moveToPositionMotionMagic(this.position.getPosition());
}
- // Called repeatedly when this Command is scheduled to run
- protected void execute() {
-
- }
-
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
- if((Math.abs(Robot.lift.getQuadPos(0) - position.getPosition()) < 600) && (Math.abs(Robot.lift.getQuadPos(1) - position.getPosition()) < 600)) {
+ protected boolean isFinished()
+ {
+ if((Math.abs(Robot.lift.getQuadPos(0) - position.getPosition()) < 600) && (Math.abs(Robot.lift.getQuadPos(1) - position.getPosition()) < 600))
return true;
- }
else
return false;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.lift.moveLift(0);
}
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- protected void interrupted() {
- }
}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java
similarity index 63%
rename from src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java
rename to src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java
index b3790eb..563e223 100644
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/RunLiftPosition.java
@@ -2,48 +2,39 @@
import org.usfirst.frc.team6325.robot.Robot;
import org.usfirst.frc.team6325.robot.subsystems.Lift;
-
import edu.wpi.first.wpilibj.command.Command;
-/**
- *
- */
-public class RunLiftPosition extends Command {
+
+public class RunLiftPosition extends Command
+{
private Lift.Positions position;
- public RunLiftPosition(Lift.Positions pos) {
+ public RunLiftPosition(Lift.Positions pos)
+ {
// Use requires() here to declare subsystem dependencies
requires(Robot.lift);
this.position = pos;
}
// Called just before this Command runs the first time
- protected void initialize() {
+ protected void initialize()
+ {
Robot.lift.moveLift(0);
Robot.lift.moveToPos(this.position.getPosition());
}
- // Called repeatedly when this Command is scheduled to run
- protected void execute() {
-
- }
-
// Make this return true when this Command no longer needs to run execute()
- protected boolean isFinished() {
- if((Math.abs(Robot.lift.getQuadPos(0) - position.getPosition()) < 600) && (Math.abs(Robot.lift.getQuadPos(1) - position.getPosition()) < 600)) {
+ protected boolean isFinished()
+ {
+ if((Math.abs(Robot.lift.getQuadPos(0) - position.getPosition()) < 600) && (Math.abs(Robot.lift.getQuadPos(1) - position.getPosition()) < 600))
return true;
- }
else
return false;
}
// Called once after isFinished returns true
- protected void end() {
+ protected void end()
+ {
Robot.lift.moveLift(0);
}
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- protected void interrupted() {
- }
}
diff --git a/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java
new file mode 100644
index 0000000..b1aa1ff
--- /dev/null
+++ b/src/main/java/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java
@@ -0,0 +1,28 @@
+package org.usfirst.frc.team6325.robot.commands.Lift;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team6325.robot.Robot;
+
+
+public class StopLiftIntake extends Command
+{
+ public StopLiftIntake()
+ {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.liftIntake);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute()
+ {
+ Robot.liftIntake.spinLiftIntake(0);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished()
+ {
+ return false;
+ }
+}
diff --git a/src/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java
similarity index 59%
rename from src/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java
rename to src/main/java/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java
index 0688ae7..ece4d97 100644
--- a/src/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/BackBelts.java
@@ -6,16 +6,17 @@
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.command.Subsystem;
-public class BackBelts extends Subsystem {
+public class BackBelts extends Subsystem
+{
Spark backBelts = new Spark(RobotMap.backBelts);
- public void moveBackBelts (double pow) {
+ public void moveBackBelts (double pow)
+ {
backBelts.set(pow);
}
@Override
- protected void initDefaultCommand() {
- // TODO Auto-generated method stub
- //setDefaultCommand(new JoystickBackIntake());
-
+ protected void initDefaultCommand()
+ {
+ setDefaultCommand(new JoystickBackIntake());
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java
similarity index 80%
rename from src/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java
rename to src/main/java/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java
index dad9beb..7e6ae28 100644
--- a/src/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Drivetrain.java
@@ -1,24 +1,18 @@
package org.usfirst.frc.team6325.robot.subsystems;
import java.io.File;
+import org.usfirst.frc.team6325.robot.Robot;
import org.usfirst.frc.team6325.robot.RobotMap;
import org.usfirst.frc.team6325.robot.commands.Drive.ArcadeJoystickDrive;
import org.usfirst.frc.team6325.robot.commands.Drive.TankJoystickDrive;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
-import com.ctre.phoenix.motorcontrol.FeedbackDevice;
-import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+import com.ctre.phoenix.motorcontrol.*;
+import com.ctre.phoenix.motorcontrol.can.*;
import com.kauailabs.navx.frc.AHRS;
-
import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDOutput;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.SerialPort;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -29,12 +23,10 @@
import jaci.pathfinder.modifiers.TankModifier;
-/**
- *
- */
-public class Drivetrain extends Subsystem implements PIDOutput{
+public class Drivetrain extends Subsystem implements PIDOutput
+{
- public WPI_TalonSRX frontLeft = new WPI_TalonSRX(RobotMap.frontLeft);
+ public WPI_TalonSRX frontLeft = new WPI_TalonSRX(RobotMap.frontLeft);
public WPI_TalonSRX leftDriveMaster = new WPI_TalonSRX(RobotMap.masterLeft);
public WPI_VictorSPX backLeft = new WPI_VictorSPX (RobotMap.backLeft);
public WPI_VictorSPX frontRight = new WPI_VictorSPX(RobotMap.frontRight);
@@ -46,19 +38,20 @@ public class Drivetrain extends Subsystem implements PIDOutput{
public Timer timer = new Timer();
boolean isProfileFinished = false;
- //the PID values used for turning to a specific angle
+ // the PID values used for turning to a specific angle
private final double turnP = 0.006;
private final double turnI = 0.0;
private final double turnD = 0.0;
private final double turnF = 0.0;
- //how close the robot will try to get to the target angle before stopping
+ // how close the robot will try to get to the target angle before stopping
private final double turnThreshold = 5.0;
private double turnRate = 0.0;
private PIDController turnController = new PIDController(turnP, turnI, turnD, turnF, navx, this);
- public Drivetrain() {
+ public Drivetrain()
+ {
// Set Followers
this.backLeft.follow(leftDriveMaster);
this.frontLeft.follow(leftDriveMaster);
@@ -75,7 +68,6 @@ public Drivetrain() {
this.leftDriveMaster.setInverted(false);
this.backLeft.setInverted(false);
this.frontLeft.setInverted(true);
- this.rightDriveMaster.setSensorPhase(false);
//leftDriveMaster.setSensorPhase(true);
// Set Talon Mode
@@ -93,77 +85,99 @@ public Drivetrain() {
navx.reset();
navx.zeroYaw();
resetEncoders();
-
}
- public void drive(double leftVal, double rightVal) {
+ public void drive(double leftVal, double rightVal)
+ {
leftDriveMaster.set(leftVal);
rightDriveMaster.set(rightVal);
}
- public void killMotors() {
+
+ public void killMotors()
+ {
rightDriveMaster.set(0);
leftDriveMaster.set(0);
}
- public void shiftIn() {
+
+ public void shiftIn()
+ {
shifter.set(Value.kForward);
}
- public void shiftOut() {
+
+ public void shiftOut()
+ {
shifter.set(Value.kReverse);
}
- public void shift() {
- if(shifter.get()==Value.kForward) {
+
+ public void shift()
+ {
+ if(shifter.get()==Value.kForward)
+ {
shifter.set(Value.kReverse);
isHighGear = false;
}
- else {
+ else
+ {
shifter.set(Value.kForward);
isHighGear = true;
}
- }
- public boolean isHighGear() {
+ }
+
+ public boolean isHighGear()
+ {
return isHighGear;
}
- public void resetGyro() {
+ public void resetGyro()
+ {
navx.zeroYaw();
}
- public double getLeftVelocity() {
+ public double getLeftVelocity()
+ {
return (leftDriveMaster.getSelectedSensorVelocity(0) * Math.PI * MotionProfiling.wheel_diameter) / (MotionProfiling.ticks_per_rev) * 10;
//(ticks/4096)*(6pi) inches
}
- public double getRightVelocity() {
+ public double getRightVelocity()
+ {
return (rightDriveMaster.getSelectedSensorVelocity(0) * Math.PI * MotionProfiling.wheel_diameter) / (MotionProfiling.ticks_per_rev) * 10;
}
- public void resetEncoders() {
+ public void resetEncoders()
+ {
this.leftDriveMaster.setSelectedSensorPosition(0, 0, 0);
this.rightDriveMaster.setSelectedSensorPosition(0, 0, 0);
}
- public double getEncoderDistanceMetersRight() {
+ public double getEncoderDistanceMetersRight()
+ {
return (rightDriveMaster.getSelectedSensorPosition(0) * Math.PI * MotionProfiling.wheel_diameter) / MotionProfiling.ticks_per_rev;
// return (rightDriveMaster.getSelectedSensorPosition(0) / MotionProfiling.ticks_per_rev) * MotionProfiling.wheel_circumference;
}
- public double getEncoderDistanceMetersLeft() {
+ public double getEncoderDistanceMetersLeft()
+ {
return (leftDriveMaster.getSelectedSensorPosition(0) * Math.PI * MotionProfiling.wheel_diameter) / MotionProfiling.ticks_per_rev;
//return (leftDriveMaster.getSelectedSensorPosition(0) / MotionProfiling.ticks_per_rev) * MotionProfiling.wheel_circumference;
}
- public float getAngle() {
+ public float getAngle()
+ {
return navx.getYaw();
}
- public double getEncoderRawLeft() {
+ public double getEncoderRawLeft()
+ {
return leftDriveMaster.getSelectedSensorPosition(0);
}
- public double getEncoderRawRight() {
+ public double getEncoderRawRight()
+ {
return rightDriveMaster.getSelectedSensorPosition(0);
}
- public boolean turnToAngle(double angle) {
+ public boolean turnToAngle(double angle)
+ {
double error = angle - navx.getAngle();
double turn = 1.5 * (-1.0/80.0) * error;
this.leftDriveMaster.set(ControlMode.PercentOutput, turn);
@@ -171,16 +185,17 @@ public boolean turnToAngle(double angle) {
SmartDashboard.putNumber("turn to angle error", error);
return Math.abs(error) <= 5;
}
- public double generateHashCode(Waypoint[] path) {
+ public double generateHashCode(Waypoint[] path)
+ {
double hash = 1.0;
- for(int i = 0; i < path.length; i ++) {
+ for(int i = 0; i < path.length; i ++)
hash = ((path[i].x * 6) + (path[i].y * 3) + (path[i].angle * 25));
- }
return (int)Math.abs(hash * 100);
}
- public EncoderFollower[] initPath(String leftCSV, String rightCSV) {
+ public EncoderFollower[] initPath(String leftCSV, String rightCSV)
+ {
File leftMotionProfile = new File(leftCSV);
File rightMotionProfile = new File(rightCSV);
System.err.println("File about to read");
@@ -194,27 +209,33 @@ public EncoderFollower[] initPath(String leftCSV, String rightCSV) {
left.configurePIDVA(MotionProfiling.kp, MotionProfiling.ki, MotionProfiling.kd, MotionProfiling.kv, MotionProfiling.ka);
right.configurePIDVA(MotionProfiling.kp, MotionProfiling.ki, MotionProfiling.kd, MotionProfiling.kv, MotionProfiling.ka);
navx.zeroYaw();
- return new EncoderFollower[] {
- left, // 0
- right, // 1
+ return new EncoderFollower[]
+ {
+ left, // 0
+ right, // 1
};
}
- public EncoderFollower[] initPath(Waypoint[] path) {
+ public EncoderFollower[] initPath(Waypoint[] path)
+ {
EncoderFollower left = new EncoderFollower();
EncoderFollower right = new EncoderFollower();
Trajectory.Config cfg = new Trajectory.Config(Trajectory.FitMethod.HERMITE_QUINTIC, Trajectory.Config.SAMPLES_HIGH,
- Drivetrain.MotionProfiling.dt, Drivetrain.MotionProfiling.max_velocity, Drivetrain.MotionProfiling.max_acceleration, Drivetrain.MotionProfiling.max_jerk);
+ Drivetrain.MotionProfiling.dt, Drivetrain.MotionProfiling.max_velocity,
+ Drivetrain.MotionProfiling.max_acceleration, Drivetrain.MotionProfiling.max_jerk);
String pathHash = String.valueOf(generateHashCode(path));
SmartDashboard.putString("Path Hash", pathHash);
Trajectory toFollow;
File trajectory = new File("/home/lvuser/paths/" + pathHash + ".csv");
- if (!trajectory.exists()) {
+ if (!trajectory.exists())
+ {
toFollow = Pathfinder.generate(path, cfg);
Pathfinder.writeToCSV(trajectory, toFollow);
System.out.println(pathHash + ".csv not found, wrote to file");
- } else {
+ }
+ else
+ {
System.out.println(pathHash + ".csv read from file");
toFollow = Pathfinder.readFromCSV(trajectory);
}
@@ -226,19 +247,24 @@ public EncoderFollower[] initPath(Waypoint[] path) {
right.configureEncoder(rightDriveMaster.getSelectedSensorPosition(0), MotionProfiling.ticks_per_rev, MotionProfiling.wheel_diameter);
left.configurePIDVA(MotionProfiling.kp, MotionProfiling.ki, MotionProfiling.kd, MotionProfiling.kv, MotionProfiling.ka);
right.configurePIDVA(MotionProfiling.kp, MotionProfiling.ki, MotionProfiling.kd, MotionProfiling.kv, MotionProfiling.ka);
- return new EncoderFollower[]{
- left, // 0
- right, // 1
+ return new EncoderFollower[]
+ {
+ left, // 0
+ right, // 1
};
}
- public void executePath(EncoderFollower[] followers,boolean reverse) {
+ public void executePath(EncoderFollower[] followers,boolean reverse)
+ {
EncoderFollower left = followers[0];
EncoderFollower right = followers[1];
double l,r;
- if (!reverse) {
+ if (!reverse)
+ {
l = left.calculate(leftDriveMaster.getSelectedSensorPosition(0));
r = right.calculate(rightDriveMaster.getSelectedSensorPosition(0));
- } else {
+ }
+ else
+ {
l = left.calculate(-leftDriveMaster.getSelectedSensorPosition(0));
r = right.calculate(-rightDriveMaster.getSelectedSensorPosition(0));
}
@@ -246,34 +272,38 @@ public void executePath(EncoderFollower[] followers,boolean reverse) {
double angle_setpoint = Pathfinder.r2d(left.getHeading());
double angleDifference = Pathfinder.boundHalfDegrees(angle_setpoint - gyro_heading);
double turn = 0.8 * (-1.0/80.0) * angleDifference;
- if(!reverse) {
+ if(!reverse)
drive(l + turn, r - turn);
- }
- else {
+ else
drive(-l + turn, -r - turn);
- }
- if(left.isFinished() && right.isFinished()) {
+
+ if(left.isFinished() && right.isFinished())
isProfileFinished = true;
- }
}
- public boolean getIsProfileFinished() {
+
+ public boolean getIsProfileFinished()
+ {
return isProfileFinished;
}
- public void resetForPath() {
+ public void resetForPath()
+ {
isProfileFinished = false;
resetEncoders();
resetGyro();
}
- public void initDefaultCommand() {
- setDefaultCommand(new TankJoystickDrive());
+ public void initDefaultCommand()
+ {
+ setDefaultCommand(new TankJoystickDrive());
}
- public void autoTurn() {
+ public void autoTurn()
+ {
drive(turnRate, -turnRate);
}
- public void autoTurnInit(double angle) {
+ public void autoTurnInit(double angle)
+ {
turnController.setInputRange(-180.0f, 180.0f);
turnController.setOutputRange(-1.0, 1.0);
turnController.setAbsoluteTolerance(turnThreshold);
@@ -282,21 +312,22 @@ public void autoTurnInit(double angle) {
turnController.enable();
}
- public void autoTurnStop() {
+ public void autoTurnStop()
+ {
turnController.disable();
}
- public void pidWrite(double output) {
+ public void pidWrite(double output)
+ {
turnRate = output;
}
- public static class MotionProfiling {
- //TODO: TUNE CONSTANTS
+ public static class MotionProfiling
+ {
public static double kp = 1;
public static double ki = 0.0; // not used
public static double kd = 0.05;
- //hard constants TODO: UPDATE FOR 2018
public static final double max_velocity = 7.0;
public static final double kv = 1 / max_velocity;
public static final double max_acceleration = 3.0;
diff --git a/src/org/usfirst/frc/team6325/robot/subsystems/Intake.java b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Intake.java
similarity index 64%
rename from src/org/usfirst/frc/team6325/robot/subsystems/Intake.java
rename to src/main/java/org/usfirst/frc/team6325/robot/subsystems/Intake.java
index 8f6aa3f..6391791 100644
--- a/src/org/usfirst/frc/team6325/robot/subsystems/Intake.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Intake.java
@@ -1,49 +1,47 @@
package org.usfirst.frc.team6325.robot.subsystems;
import org.usfirst.frc.team6325.robot.RobotMap;
-
-
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
-
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.command.Subsystem;
-public class Intake extends Subsystem {
+
+public class Intake extends Subsystem
+{
Spark leftIntakeWheel = new Spark(RobotMap.leftIntakeWheel);
Spark rightIntakeWheel = new Spark (RobotMap.rightIntakeWheel);
private DoubleSolenoid intakePiston = new DoubleSolenoid(RobotMap.INTAKE[0], RobotMap.INTAKE[1]);
- public Intake() {
+ public Intake()
+ {
//intakePiston.set(Value.kForward);
}
- public void setIntakePower(double power) {
+ public void setIntakePower(double power)
+ {
leftIntakeWheel.set(power);
rightIntakeWheel.set(-power);
}
- public void clampIn() {
+ public void clampIn()
+ {
intakePiston.set(Value.kForward);
}
- public void clampOut() {
+ public void clampOut()
+ {
intakePiston.set(Value.kReverse);
}
- public void toggleClamp() {
- if(intakePiston.get()==Value.kForward) {
+ public void toggleClamp()
+ {
+ if(intakePiston.get()==Value.kForward)
intakePiston.set(Value.kReverse);
- }
- else {
+ else
intakePiston.set(Value.kForward);
- }
}
+
@Override
- protected void initDefaultCommand() {
- // TODO Auto-generated method stub
-
- }
+ protected void initDefaultCommand()
+ {
-
+ }
}
diff --git a/src/org/usfirst/frc/team6325/robot/subsystems/Lift.java b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Lift.java
similarity index 57%
rename from src/org/usfirst/frc/team6325/robot/subsystems/Lift.java
rename to src/main/java/org/usfirst/frc/team6325/robot/subsystems/Lift.java
index e80144a..d718cc4 100644
--- a/src/org/usfirst/frc/team6325/robot/subsystems/Lift.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/Lift.java
@@ -1,17 +1,16 @@
package org.usfirst.frc.team6325.robot.subsystems;
import org.usfirst.frc.team6325.robot.RobotMap;
-
import org.usfirst.frc.team6325.robot.commands.Lift.JoystickLift;
-
-import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
+import com.ctre.phoenix.motorcontrol.ControlMode;
import edu.wpi.first.wpilibj.command.Subsystem;
-public class Lift extends Subsystem {
+
+public class Lift extends Subsystem
+{
public WPI_TalonSRX leftMaster = new WPI_TalonSRX(RobotMap.leftMaster);
public WPI_TalonSRX rightMaster = new WPI_TalonSRX(RobotMap.rightMaster);
private static final int CRUISE_VELOCITY = 19000; // 1024
@@ -19,7 +18,8 @@ public class Lift extends Subsystem {
private static final int CRUISE_VELOCITY_DOWN = (int) (CRUISE_VELOCITY * 0.7); // 1024
private static final int CRUISE_ACCELERATION_DOWN = (int) (CRUISE_ACCELERATION * 0.6); // 1024
- public enum Positions {
+ public enum Positions
+ {
Intake(300),
Driving(25000),
ScoreSwitch(14000),
@@ -30,18 +30,18 @@ public enum Positions {
Top(73000);
private int position;
- Positions(int encPos) {
- System.err.println("I'm in the Positions method in the Positions enum of the Lift.java");
+ Positions(int encPos)
+ {
this.position = encPos;
}
- public int getPosition() {
- System.err.println("I'm in the getPosition method in the Positions enum of the Lift.java");
+ public int getPosition()
+ {
return this.position;
}
}
- public Lift() {
- System.err.println("I'm in the Lift method of Lift.java");
+ public Lift()
+ {
this.leftMaster.setInverted(false);
this.rightMaster.setInverted(true);
this.leftMaster.configSelectedFeedbackSensor(FeedbackDevice.CTRE_MagEncoder_Relative, 0, 0);
@@ -52,60 +52,56 @@ public Lift() {
configPIDF(0.06,0,0,0.38); // TUNE VALUES
configMotionMagic(CRUISE_VELOCITY, CRUISE_ACCELERATION);
}
- public int getQuadPos(int side) {
- System.err.println("I'm in the getQuadPos method of Lift.java");
- int[] arr = {leftMaster.getSelectedSensorPosition(0), rightMaster.getSelectedSensorPosition(0)};
+ public int getQuadPos(int side)
+ {
+ int[] arr = {(int) Math.round(leftMaster.getSelectedSensorPosition()), (int) Math.round(rightMaster.getSelectedSensorPosition())};
return arr[side];
}
- public void moveLift(double pow) {
- System.err.println("I'm in the moveLift method of Lift.java");
- /* if ((getQuadPos(0) >= Positions.Top.getPosition() || getQuadPos(1) > Positions.Top.getPosition()) && pow>0 ) {
- return;
- } */
+ public void moveLift(double pow)
+ {
rightMaster.set(ControlMode.PercentOutput, pow);
leftMaster.set(ControlMode.PercentOutput, pow);
}
- public void resetEncoders() {
- System.err.println("I'm in the resetEncoders method of Lift.java");
+ public void resetEncoders()
+ {
leftMaster.setSelectedSensorPosition(0, 0, 0);
rightMaster.setSelectedSensorPosition(0, 0, 0);
}
- public void moveToPos(int pos) {
- System.err.println("I'm in the moveToPos method of Lift.java");
+ public void moveToPos(int pos)
+ {
leftMaster.set(ControlMode.Position, pos);
rightMaster.set(ControlMode.Position, pos);
}
- public void moveToPositionMotionMagic(int pos) {
- System.err.println("I'm in the moveToPositionMotionMagic method of Lift.java");
+ public void moveToPositionMotionMagic(int pos)
+ {
leftMaster.set(ControlMode.MotionMagic, pos);
rightMaster.set(ControlMode.MotionMagic, pos);
}
- public void configMotionMagic(int cruiseVelocity, int acceleration) {
- System.err.println("I'm in the configMotionMagic method of Lift.java");
+ public void configMotionMagic(int cruiseVelocity, int acceleration)
+ {
leftMaster.configMotionCruiseVelocity(cruiseVelocity, 0);
leftMaster.configMotionAcceleration(acceleration, 0);
rightMaster.configMotionCruiseVelocity(cruiseVelocity, 0);
rightMaster.configMotionAcceleration(acceleration, 0);
}
- public void configPIDF(double kP, double kI, double kD, double kF) {
- System.err.println("I'm in the configPIDF method of Lift.java");
- leftMaster.config_kP(0, kP, 0);
- leftMaster.config_kI(0, kI, 0);
- leftMaster.config_kD(0, kD, 0);
- leftMaster.config_kF(0, kF, 0);
- rightMaster.config_kP(0, kP, 0);
- rightMaster.config_kI(0, kI, 0);
- rightMaster.config_kD(0, kD, 0);
- rightMaster.config_kF(0, kF, 0);
- }
+ public void configPIDF(double kP, double kI, double kD, double kF)
+ {
+ leftMaster.config_kP(0, kP, 0);
+ leftMaster.config_kI(0, kI, 0);
+ leftMaster.config_kD(0, kD, 0);
+ leftMaster.config_kF(0, kF, 0);
+ rightMaster.config_kP(0, kP, 0);
+ rightMaster.config_kI(0, kI, 0);
+ rightMaster.config_kD(0, kD, 0);
+ rightMaster.config_kF(0, kF, 0);
+ }
@Override
- protected void initDefaultCommand() {
- System.err.println("Im in the initDefaultCommand() method in Lift.java");
+ protected void initDefaultCommand()
+ {
setDefaultCommand(new JoystickLift());
-
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java
similarity index 54%
rename from src/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java
rename to src/main/java/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java
index 5409799..6c9bd11 100644
--- a/src/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java
+++ b/src/main/java/org/usfirst/frc/team6325/robot/subsystems/LiftIntake.java
@@ -1,32 +1,23 @@
package org.usfirst.frc.team6325.robot.subsystems;
import org.usfirst.frc.team6325.robot.RobotMap;
-import org.usfirst.frc.team6325.robot.commands.Lift.JoystickBackIntake;
import org.usfirst.frc.team6325.robot.commands.Lift.JoystickLiftIntake;
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
-
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.command.Subsystem;
-public class LiftIntake extends Subsystem {
+public class LiftIntake extends Subsystem
+{
Spark liftWheel = new Spark(RobotMap.liftWheel);
-
- public LiftIntake () {
-
- }
-
- public void spinLiftIntake (double pow) {
+ public void spinLiftIntake (double pow)
+ {
liftWheel.set(pow);
}
@Override
- protected void initDefaultCommand() {
- // TODO Auto-generated method stub
+ protected void initDefaultCommand()
+ {
setDefaultCommand(new JoystickLiftIntake());
-
-
}
}
diff --git a/src/org/usfirst/frc/team6325/robot/OI.java b/src/org/usfirst/frc/team6325/robot/OI.java
deleted file mode 100644
index 3ae5fdc..0000000
--- a/src/org/usfirst/frc/team6325/robot/OI.java
+++ /dev/null
@@ -1,62 +0,0 @@
-package org.usfirst.frc.team6325.robot;
-
-import org.usfirst.frc.team6325.robot.commands.Drive.*;
-import org.usfirst.frc.team6325.robot.commands.Intake.*;
-import org.usfirst.frc.team6325.robot.commands.Lift.*;
-import org.usfirst.frc.team6325.robot.subsystems.Lift.Positions;
-
-import edu.wpi.first.wpilibj.GenericHID.Hand;
-import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.buttons.*;
-
-import org.usfirst.frc.team6325.robot.IDConfig;
-
-/**
- * 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 {
- IDConfig ids = new IDConfig();
-
- public Joystick joystickLeft = new Joystick(ids.joystickLeftIDs.get("USB-ID"));
- public Joystick joystickRight = new Joystick(ids.joystickRightIDs.get("USB-ID"));
- public XboxController xboxController = new XboxController(ids.xboxIDs.get("USB-ID"));
- public Button shiftDrivetrain = new JoystickButton(joystickLeft, ids.joystickLeftIDs.get("Trigger"));
- public Button backBeltsIn = new JoystickButton(xboxController, 2);
- public Button backBeltsOut = new JoystickButton(xboxController, 3);
- public Button toggleIntakePistons = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Trigger"));
- public Button intakeWheelsForward = new JoystickButton(joystickLeft, ids.joystickLeftIDs.get("Top-Button-Top-Right"));
- public Button intakeWheelsReverse = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Top-Button-Top-Left"));
- public Button stopIntakes = new JoystickButton(joystickRight, ids.joystickRightIDs.get("Side-Thumb"));
- public Button liftWheelsOut = new JoystickButton(xboxController, ids.xboxIDs.get("A-Button"));
- public Button liftWheelsIn = new JoystickButton(xboxController, ids.xboxIDs.get("Y-Button"));
-
-
-
- public OI () {
- shiftDrivetrain.whenPressed(new ShiftTransmission());
- backBeltsIn.whenPressed(new BackIntakeForward(0));
- toggleIntakePistons.whenPressed(new ToggleClamp());
-
- intakeWheelsReverse.whileHeld(new SpinIntakeWheels(-1));
- intakeWheelsReverse.whileHeld(new LiftIntake(1));
- intakeWheelsReverse.whenReleased(new LiftIntake(0));
-
-
- stopIntakes.whenPressed(new StopIntakeWheels());
- stopIntakes.whenPressed(new LiftIntake(0));
-
- intakeWheelsForward.whileHeld(new SpinIntakeWheels(1));
- intakeWheelsForward.whileHeld(new LiftOuttake());
-
- liftWheelsOut.whileHeld(new LiftOuttake());
- liftWheelsOut.whenReleased(new LiftIntake(0));
-
- liftWheelsIn.whileHeld(new LiftIntake(-1));
- liftWheelsIn.whenReleased(new LiftIntake(0));
-
- backBeltsIn.whileHeld(new BackIntakeForward(0.5));
- backBeltsOut.whileHeld(new BackIntakeForward(-0.5));
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/Paths/Center.java b/src/org/usfirst/frc/team6325/robot/Paths/Center.java
deleted file mode 100644
index ed8c78b..0000000
--- a/src/org/usfirst/frc/team6325/robot/Paths/Center.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package org.usfirst.frc.team6325.robot.Paths;
-
-import jaci.pathfinder.Pathfinder;
-import jaci.pathfinder.Waypoint;
-
-public class Center {
-
- public static Waypoint[] toLeftSwitch = new Waypoint[]{
- new Waypoint(0.0, 0.0, Pathfinder.d2r(0.0)),
- new Waypoint(8.2, 3.3, Pathfinder.d2r(0.0)),
- };
-
- public static Waypoint[] toRightSwitch = new Waypoint[]{
- new Waypoint(0.0, 0.0, Pathfinder.d2r(0.0)),
- new Waypoint(8.2, -3.3, Pathfinder.d2r(0.0)),
- };
-
-}
-
-
diff --git a/src/org/usfirst/frc/team6325/robot/Robot.java b/src/org/usfirst/frc/team6325/robot/Robot.java
deleted file mode 100644
index 39a3618..0000000
--- a/src/org/usfirst/frc/team6325/robot/Robot.java
+++ /dev/null
@@ -1,358 +0,0 @@
-package org.usfirst.frc.team6325.robot;
-
-
-//import edu.wpi.cscore.UsbCamera;
-
-import edu.wpi.first.wpilibj.CameraServer;
-import edu.wpi.first.wpilibj.DriverStation;
-import edu.wpi.first.wpilibj.IterativeRobot;
-import edu.wpi.first.wpilibj.PowerDistributionPanel;
-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;
-
-import java.lang.reflect.Constructor;
-import java.lang.reflect.InvocationTargetException;
-import java.lang.reflect.Method;
-
-import org.usfirst.frc.team6325.robot.Paths.Center;
-import org.usfirst.frc.team6325.robot.commands.Auto.AutoChooser.*;
-import org.usfirst.frc.team6325.robot.commands.Auto.AutoPathSelector;
-import org.usfirst.frc.team6325.robot.commands.Auto.AutoPathSelector.*;
-import org.usfirst.frc.team6325.robot.commands.Auto.GamedataFetcher;
-import org.usfirst.frc.team6325.robot.commands.Auto.SimpleAutoSwitch;
-import org.usfirst.frc.team6325.robot.commands.Drive.ArcadeJoystickDrive;
-import org.usfirst.frc.team6325.robot.commands.Drive.ProfileFollower;
-import org.usfirst.frc.team6325.robot.commands.Drive.ProfileFollowerUpdate;
-import org.usfirst.frc.team6325.robot.commands.Drive.ResetGyro;
-import org.usfirst.frc.team6325.robot.commands.Drive.WaypointFollower;
-import org.usfirst.frc.team6325.robot.subsystems.BackBelts;
-import org.usfirst.frc.team6325.robot.subsystems.Drivetrain;
-import org.usfirst.frc.team6325.robot.subsystems.Intake;
-import org.usfirst.frc.team6325.robot.subsystems.Lift;
-import org.usfirst.frc.team6325.robot.subsystems.LiftIntake;
-
-
-/**
- * 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 final Lift lift = new Lift();
- public static final Drivetrain drivetrain = new Drivetrain();
- public static final Intake intake = new Intake();
- public static final LiftIntake liftIntake = new LiftIntake();
- public static final BackBelts backBelts = new BackBelts();
- public static OI oi;
- public double start, time;
- //PowerDistributionPanel pdp = new PowerDistributionPanel(0);
- Command autonomousCommand;
- SendableChooser chooser = new SendableChooser<>();
- SendableChooser positionChooser = new SendableChooser<>();
- SendableChooser preferenceChooser = new SendableChooser<>();
- SendableChooser cubesChooser = new SendableChooser<>();
-
- /**
- * This function is run when the robot is first started up and should be
- * used for any initialization code.
- */
- @Override
- public void robotInit()
- {
- oi = new OI();
- chooser.addDefault("Default Auto", new ArcadeJoystickDrive());
- positionChooser.addDefault(AutoPosition.MIDDLE.getName(), AutoPosition.MIDDLE);
- positionChooser.addObject(AutoPosition.LEFT.getName(), AutoPosition.LEFT);
- positionChooser.addObject(AutoPosition.RIGHT.getName(), AutoPosition.RIGHT);
- preferenceChooser.addDefault(AutoPreference.SWITCH.getName(), AutoPreference.SWITCH);
- preferenceChooser.addObject(AutoPreference.SCALE.getName(), AutoPreference.SCALE);
- preferenceChooser.addObject(AutoPreference.SIMPLE.getName(), AutoPreference.SIMPLE);
- preferenceChooser.addObject(AutoPreference.BASELINE.getName(), AutoPreference.BASELINE);
- cubesChooser.addDefault(AutoCubes.ONE.getName(), AutoCubes.ONE);
- cubesChooser.addObject(AutoCubes.TWO.getName(), AutoCubes.TWO);
- cubesChooser.addObject(AutoCubes.THREE.getName(), AutoCubes.THREE);
- cubesChooser.addObject(AutoCubes.ONEONE.getName(), AutoCubes.ONEONE);
- cubesChooser.addObject(AutoCubes.ONETWO.getName(), AutoCubes.ONETWO);
-
- SmartDashboard.putData("Auto Mode", chooser);
- SmartDashboard.putData("Auto Position", positionChooser);
- SmartDashboard.putData("Auto Preference", preferenceChooser);
- SmartDashboard.putData("Auto Cubes", cubesChooser);
- SmartDashboard.putData("Reset Gyro", new ResetGyro());
- }
-
- /**
- * 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.
- */
- @Override
- public void disabledInit()
- {
-
- }
-
- @Override
- public void disabledPeriodic()
- {
- Scheduler.getInstance().run();
- SmartDashboard.putData("Auto Mode", chooser);
- SmartDashboard.putData("Auto Position", positionChooser);
- SmartDashboard.putData("Auto Preference", preferenceChooser);
- SmartDashboard.putData("Auto Cubes", cubesChooser);
- SmartDashboard.putData("Reset Gyro", new ResetGyro());
- }
-
- /**
- * 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.
- */
- @Override
- public void autonomousInit()
- {
- AutoPosition position = positionChooser.getSelected();
- System.err.println("position = " + position);
- AutoPreference preference = preferenceChooser.getSelected();
- System.err.println("preference = " + preference);
- AutoCubes cubes = cubesChooser.getSelected();
- System.err.println("cubes = " + cubes);
- String classNameString = ("AutoPathSelector." + position.getName() + preference.getName() + "." + cubes.getName());
- System.err.println(classNameString);
- GamedataFetcher gamedata = new GamedataFetcher();
-
- if (position.getName() == "Middle")
- {
- if (preference.getName() == "Switch")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
- }
- //autonomousCommand = cubesChooser.getSelected().getMiddleSwitchCommand();
- }
- if (preference.getName() == "Scale")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.MiddleScale.One(gamedata.scaleSide);
- }
- //autonomousCommand = cubes.getMiddleScaleCommand();
- }
- }
- if (position.getName() == "Left")
- {
- if (preference.getName() == "Switch")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.LeftSwitch.One(gamedata.switchSide);
- }
- //autonomousCommand = cubes.getLeftSwitchCommand();
- }
- if (preference.getName() == "Scale")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.LeftScale.One(gamedata.scaleSide);
- }
- //autonomousCommand = cubes.getLeftScaleCommand();
- }
- }
- if (position.getName() == "Right")
- {
- if (preference.getName() == "Switch")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.RightSwitch.One(gamedata.switchSide);
- }
- //autonomousCommand = cubes.getRightSwitchCommand();
- }
- if (preference.getName() == "Scale")
- {
- if (cubes.getName() == "One")
- {
- autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Two")
- {
- autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "Three")
- {
- autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneOne")
- {
- autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
- }
- if (cubes.getName() == "OneTwo")
- {
- autonomousCommand = new AutoPathSelector.RightScale.One(gamedata.scaleSide);
- }
- //autonomousCommand = cubes.getRightScaleCommand();
- }
- }
-
-
- if (preference.getName() == "Baseline")
- {
- //System.err.println("The preference is Baseline, the class name is " + classNameString);
- autonomousCommand = new AutoPathSelector.Baseline();
- }
-
- //autonomousCommand = new AutoPathSelector.MiddleSwitch.One(gamedata.switchSide);
-
- //start = System.currentTimeMillis();
- Robot.drivetrain.resetEncoders();
- Robot.intake.clampIn();
- Robot.drivetrain.navx.zeroYaw();
- Robot.drivetrain.shiftIn();
- if (autonomousCommand != null)
- autonomousCommand.start();
- }
-
- /**
- * This function is called periodically during autonomous
- */
- @Override
- public void autonomousPeriodic()
- {
- Scheduler.getInstance().run();
- SmartDashboard.putNumber("Enc value left drive", Robot.drivetrain.getEncoderRawLeft());
- SmartDashboard.putNumber("Enc value right drive", Robot.drivetrain.getEncoderRawRight());
- SmartDashboard.putNumber("Gyro Yaw", Robot.drivetrain.navx.getYaw());
- }
-
- @Override
- 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
- Robot.drivetrain.navx.zeroYaw();
- Robot.drivetrain.resetEncoders();
- Robot.lift.resetEncoders();
- // this line or comment it out.
- if (autonomousCommand != null)
- autonomousCommand.cancel();
- }
-
- /**...
- * This function is called periodically during operator control
- */
- @Override
- public void teleopPeriodic()
- {
- Scheduler.getInstance().run();
- SmartDashboard.putNumber("Enc value left drive", Robot.drivetrain.getEncoderRawLeft());
- SmartDashboard.putNumber("Enc value right drive", Robot.drivetrain.getEncoderRawRight());
- SmartDashboard.putNumber("Enc value left lift", Robot.lift.leftMaster.getSelectedSensorPosition(0));
- SmartDashboard.putNumber("Enc value right Lift", Robot.lift.rightMaster.getSelectedSensorPosition(0));
- SmartDashboard.putNumber("Gyro Yaw", Robot.drivetrain.navx.getYaw());
- SmartDashboard.putNumber("Gyro Angle", Robot.drivetrain.navx.getAngle());
- }
-
- /**
- * This function is called periodically during test mode
- */
- @Override
- public void testPeriodic()
- {
- LiveWindow.run();
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java b/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java
deleted file mode 100644
index 2f40538..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Auto/AutoChooser.java
+++ /dev/null
@@ -1,118 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Auto;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-public class AutoChooser
-{
- //public static GamedataFetcher gamedata;
- //public static char switchGamedata = gamedata.switchSide;
- //public static char scaleGamedata = gamedata.scaleSide;
-
-
-
- public enum AutoPosition
- {
- LEFT("Left"),
- MIDDLE("Middle"),
- RIGHT("Right");
-
- private final String name;
-
- AutoPosition(String name)
- {
- this.name = name;
- }
-
- public String getName()
- {
- return name;
- }
- }
-
- public enum AutoPreference
- {
- SCALE("Scale"),
- SWITCH("Switch"),
- SIMPLE("Simple"),
- BASELINE("Baseline");
-
- private final String name;
-
- AutoPreference(String name)
- {
- this.name = name;
- }
-
- public String getName()
- {
- return name;
- }
- }
-
- public enum AutoCubes
- {
- ONE("One"), //, new AutoPathSelector.MiddleSwitch.One('L'), new AutoPathSelector.LeftSwitch.One('L'), new AutoPathSelector.RightSwitch.One('L'), new AutoPathSelector.MiddleScale.One('L'), new AutoPathSelector.LeftScale.One('L'), new AutoPathSelector.RightScale.One('L')),
- TWO("Two"), //, new AutoPathSelector.MiddleSwitch.One('L'), new AutoPathSelector.LeftSwitch.One('L'), new AutoPathSelector.RightSwitch.One('L'), new AutoPathSelector.MiddleScale.One('L'), new AutoPathSelector.LeftScale.One('L'), new AutoPathSelector.RightScale.One('L')),
- THREE("Three"), //, new AutoPathSelector.MiddleSwitch.One('L'), new AutoPathSelector.LeftSwitch.One('L'), new AutoPathSelector.RightSwitch.One('L'), new AutoPathSelector.MiddleScale.One('L'), new AutoPathSelector.LeftScale.One('L'), new AutoPathSelector.RightScale.One('L')),
- ONEONE("OneOne"), //, new AutoPathSelector.MiddleSwitch.One('L'), new AutoPathSelector.LeftSwitch.One('L'), new AutoPathSelector.RightSwitch.One('L'), new AutoPathSelector.MiddleScale.One('L'), new AutoPathSelector.LeftScale.One('L'), new AutoPathSelector.RightScale.One('L')),
- ONETWO("OneTwo"); //, new AutoPathSelector.MiddleSwitch.One('L'), new AutoPathSelector.LeftSwitch.One('L'), new AutoPathSelector.RightSwitch.One('L'), new AutoPathSelector.MiddleScale.One('L'), new AutoPathSelector.LeftScale.One('L'), new AutoPathSelector.RightScale.One('L'));
-
- //private Command commandMiddleSwitch = new AutoPathSelector.MiddleSwitch.One('L');
- //private Command commandLeftSwitch = new AutoPathSelector.LeftSwitch.One('L');;
- //private Command commandRightSwitch = new AutoPathSelector.RightSwitch.One('L');
- //private Command commandMiddleScale = new AutoPathSelector.MiddleScale.One('L');
- //private Command commandLeftScale = new AutoPathSelector.LeftScale.One('L');
- //private Command commandRightScale = new AutoPathSelector.RightScale.One('L');
-
- private final String name;
-
- AutoCubes(String name)//, Command CMSwitch, Command CLSwitch, Command CRSwitch, Command CMScale, Command CLScale, Command CRScale)
- {
- this.name = name;
- /*this.commandMiddleSwitch = CMSwitch;
- this.commandLeftSwitch = CLSwitch;
- this.commandRightSwitch = CRSwitch;
- this.commandMiddleScale = CMScale;
- this.commandLeftScale = CLScale;
- this.commandRightScale = CRScale;*/
-
- }
-
- public String getName()
- {
- return name;
- }
-
- /*public Command getMiddleSwitchCommand()
- {
- return commandMiddleSwitch;
- }
- public Command getLeftSwitchCommand()
- {
- return commandLeftSwitch;
- }
- public Command getRightSwitchCommand()
- {
- return commandRightSwitch;
- }
- public Command getMiddleScaleCommand()
- {
- return commandMiddleScale;
- }
- public Command getLeftScaleCommand()
- {
- return commandLeftScale;
- }
- public Command getRightScaleCommand()
- {
- return commandRightScale;
- }*/
-
- /*public char getGamedata()
- {
- return gamedata.switchSide;
- }*/
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java b/src/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java
deleted file mode 100644
index 44b768a..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ResetGyro.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Drive;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class ResetGyro extends Command {
- public ResetGyro() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.drivetrain);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
- Robot.drivetrain.resetGyro();
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
-
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java b/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java
deleted file mode 100644
index 76ba7b7..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftIn.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Drive;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class ShiftIn extends Command {
- public ShiftIn() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.drivetrain);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.drivetrain.shiftIn();
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java b/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java
deleted file mode 100644
index 07128c6..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Drive/ShiftOut.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Drive;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class ShiftOut extends Command {
- public ShiftOut() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.drivetrain);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.drivetrain.shiftOut();
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java b/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java
deleted file mode 100644
index 3788fdb..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampIn.java
+++ /dev/null
@@ -1,48 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Intake;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class ClampIn extends Command {
- public ClampIn() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.intake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
-
- Robot.intake.clampIn();
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java b/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java
deleted file mode 100644
index 9ed6c31..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Intake/ClampOut.java
+++ /dev/null
@@ -1,48 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Intake;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class ClampOut extends Command {
- public ClampOut() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.intake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
-
- Robot.intake.clampOut();
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return true;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java b/src/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java
deleted file mode 100644
index d6e5449..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Intake/StopIntakeWheels.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Intake;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class StopIntakeWheels extends Command {
- public StopIntakeWheels() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.intake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.intake.setIntakePower(0);
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java b/src/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java
deleted file mode 100644
index 3478a46..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Intake/ToggleClamp.java
+++ /dev/null
@@ -1,39 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Intake;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/**
- *
- */
-public class ToggleClamp extends Command {
-
- public ToggleClamp() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.intake);
- }
-
- // 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.intake.toggleClamp();
- }
-
- // 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() {
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java b/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java
deleted file mode 100644
index f0a16ad..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickBackIntake.java
+++ /dev/null
@@ -1,49 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Lift;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class JoystickBackIntake extends Command {
-
- public JoystickBackIntake() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.backBelts);
-
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.backBelts.moveBackBelts(-Robot.oi.xboxController.getRawAxis(5));
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java b/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java
deleted file mode 100644
index 3984f5b..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLift.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Lift;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class JoystickLift extends Command {
- public JoystickLift() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.lift);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.lift.moveLift(-Robot.oi.xboxController.getRawAxis(1));
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java b/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java
deleted file mode 100644
index 921233b..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/JoystickLiftIntake.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Lift;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class JoystickLiftIntake extends Command {
- public JoystickLiftIntake() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.liftIntake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.liftIntake.spinLiftIntake(Robot.oi.xboxController.getRawAxis(5));
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java b/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java
deleted file mode 100644
index 353c89b..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/LiftOuttake.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Lift;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class LiftOuttake extends Command {
- public LiftOuttake() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.liftIntake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.liftIntake.spinLiftIntake(1);
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}
diff --git a/src/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java b/src/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java
deleted file mode 100644
index 8c569c5..0000000
--- a/src/org/usfirst/frc/team6325/robot/commands/Lift/StopLiftIntake.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team6325.robot.commands.Lift;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-import org.usfirst.frc.team6325.robot.Robot;
-
-
-/**
- *
- */
-public class StopLiftIntake extends Command {
- public StopLiftIntake() {
- // Use requires() here to declare subsystem dependencies
- requires(Robot.liftIntake);
- }
-
- // Called just before this Command runs the first time
- @Override
- protected void initialize() {
-
- }
-
- // Called repeatedly when this Command is scheduled to run
- @Override
- protected void execute() {
- Robot.liftIntake.spinLiftIntake(0);
- }
-
- // Make this return true when this Command no longer needs to run execute()
- @Override
- protected boolean isFinished() {
- return false;
- }
-
- // Called once after isFinished returns true
- @Override
- protected void end() {
-
- }
-
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
- @Override
- protected void interrupted() {
-
- }
-}