Scriw b

.vscode/launch.json

@@ -0,0 +1,14 @@
+{
+    // 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": "java",
+            "name": "Debug (Launch) - Current File",
+            "request": "launch",
+            "mainClass": "${file}"
+        }
+    ]
+}

.wpilib/wpilib_preferences.json

@@ -0,0 +1,6 @@
+{
+    "currentLanguage": "java",
+    "enableCppIntellisense": false,
+    "projectYear": "none",
+    "teamNumber": 342
+}

src/main/java/frc/robot/OI.java

@@ -17,9 +17,6 @@
 import frc.robot.commands.ToggleSlowDrive;
 import frc.robot.commands.WristToPosition;
 import frc.robot.commands.XboxRumble;
-import frc.robot.commands.ClimbCommands.DriveControl;
-import frc.robot.commands.ClimbCommands.HookIn;
-import frc.robot.commands.ClimbCommands.HookOut;
 import frc.robot.commands.LiftToHeight.LiftHeight;
 import frc.robot.commands.LiftToHeightPID.LiftPosition;
 import frc.robot.commands.WristToPosition.WristPosition;
@@ -47,7 +44,7 @@
 import frc.robot.commands.EngageOveride;
 
 
-import frc.robot.commands.TurboDrive;;
+import frc.robot.commands.TurboDrive;
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -89,19 +86,16 @@ public class OI {
     private Command xboxRumble = new XboxRumble();
 
 
-
-private Command liftToHeightPIDLowHatch = new LiftToHeightPID(LiftPosition.HatchLowRocket);
-   private Command liftToTop = new LiftToTop();
-   private Command liftToMiddle = new LiftToMiddle();
-   private Command liftToLow = new LiftToBottom();
-   private Command driveControl = new DriveControl();
+   // Disabled lift to height buttons for SCRIW because of possibility of robot tipping
+   // private Command liftToHeightPIDLowHatch = new LiftToHeightPID(LiftPosition.HatchLowRocket);
+   // private Command liftToTop = new LiftToTop();
+   // private Command liftToMiddle = new LiftToMiddle();
+   // private Command liftToLow = new LiftToBottom();
    private Command engageOveride = new EngageOveride();
 
 
     private Command HatchRelease = new HatchRelease();
-    private Command hookOut = new HookOut();
-    private Command hookIn = new HookIn();
-
+
 
 
     private Command wristToPositionCargo = new WristToPosition(WristPosition.Cargo);
@@ -190,7 +184,7 @@ private OI() {
 
 
 
-        xbox_drive_leftBumper.whileHeld(turboDrive);
+        //xbox_drive_leftBumper.whileHeld(turboDrive);
         //xbox_drive_B.whileHeld(driveControl);
        // xbox_drive_Y.whileHeld(hookOut);
         //xbox_drive_A.whileHeld(lowerWithPneumatics);
@@ -200,9 +194,6 @@ private OI() {
       //  xbox_drive_X.whileHeld(RotateToAngle270);
       //  xbox_drive_Y.whileHeld(RotateToAngle0);
 
-      xbox_drive_startbutton.whileHeld(driveControl);
-      xbox_drive_backbutton.whenPressed(hookOut);
-
 
 
 
@@ -216,10 +207,10 @@ private OI() {
 
 
 
-       logitech_manipulator_A.whileHeld(liftToLow);
-       logitech_manipulator_B.whileHeld(liftToMiddle);
-       logitech_manipulator_Y.whileHeld(liftToTop);
-       logitech_manipulator_X.whileHeld(liftToHeightPIDLowHatch);
+       //logitech_manipulator_A.whileHeld(liftToLow);
+       //logitech_manipulator_B.whileHeld(liftToMiddle);
+       //logitech_manipulator_Y.whileHeld(liftToTop);
+       //logitech_manipulator_X.whileHeld(liftToHeightPIDLowHatch);
 
         logitech_manipulator_leftBumper.whenPressed(toggleSlowDrive);
         logitech_manipulator_rightBumper.whileHeld(HatchRelease);

src/main/java/frc/robot/Robot.java

@@ -22,7 +22,6 @@
 import frc.robot.commands.HatchGrab;
 import frc.robot.commands.PneumaticsWithCANifier;
 import frc.robot.commands.LiftWithJoystick;
-import frc.robot.commands.Autonomous.DriveOffPlatform;
 import frc.robot.subsystems.CameraVisionSystem;
 import frc.robot.subsystems.ExampleSubsystem;
 import frc.robot.commands.LiftToHeight;
@@ -31,7 +30,6 @@
 import frc.robot.subsystems.DriveSystem;
 import edu.wpi.cscore.VideoMode.PixelFormat;
 import frc.robot.commands.FistIntake;
-import frc.robot.commands.ClimbCommands.WenchControl;
 import com.kauailabs.navx.frc.AHRS;
 import edu.wpi.first.wpilibj.SPI;
 
@@ -57,7 +55,7 @@ public class Robot extends TimedRobot {
   private LiftSystem lift;
   private DriveSystem drive;
   private Command fistIntake;
-  private Command wenchControl;
+  //private Command wenchControl;
   AHRS NavX;
 
 
@@ -102,7 +100,6 @@ public void robotInit() {
     HatchGrab = new HatchGrab();
     wristNow = new WristWithJoystick();
     fistIntake = new FistIntake();
-    wenchControl = new WenchControl();
     lift.SetTrueZero();
 
     //NavX = new AHRS(SPI.Port.kMXP);
@@ -177,7 +174,6 @@ public void autonomousInit() {
     HatchGrab.start();
     wristNow.start();
     fistIntake.start();
-    System.out.println("You mad bro?: ");
     /*m_autonomousCommand = m_chooser.getSelected();
 
 
@@ -220,15 +216,14 @@ public void teleopInit() {
      * ((DriveWithJoystick) driveNow).setArcadeDrive(arcade_chooser.getSelected());
      */
     lift.resetHoldPosition();
-    wenchControl.start();
+    //wenchControl.start();
     System.out.println("Starting Commands: ");
     driveNow.start();
     liftNow.start();
     HatchGrab.start();
     wristNow.start();
     fistIntake.start();
-    wenchControl.start();
-    System.out.println("You mad bro?: ");
+    //wenchControl.start();
 
 
     //HatchGrab.start();

src/main/java/frc/robot/RobotMap.java

@@ -46,14 +46,24 @@ public class RobotMap {
   public static final int LOGI_LEFT_B = 5;
 
   /* Can addresses */
+
   // Motors
+  public static final int DRV_LEFTLEAD = 4;
+  public static final int DRV_LEFTFOLLOW_1 = 5;
+  public static final int DRV_LEFTFOLLOW_2 = 6;
+  public static final int DRV_RIGHTLEAD = 1;
+  public static final int DRV_RIGHTFOLLOW_1 = 2;
+  public static final int DRV_RIGHTFOLLOW_2 = 3;
 
+
+/*
   public static final int DRV_LEFT_MASTER = 1;
   public static final int DRV_LEFT_FOLLOW_1 = 2;
   public static final int DRV_LEFT_FOLLOW_2 = 3;
   public static final int DRV_RIGHT_MASTER = 4;
   public static final int DRV_RIGHT_FOLLOW_1 = 5;
   public static final int DRV_RIGHT_FOLLOW_2 = 6;
+*/
 
   public static final int LFT_MASTER = 7;
   public static final int LFT_FOLLOW_1 = 8;