October 27, 2015

Uploading the code for the first time

build.properties

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+# Project specific information
+package=org.usfirst.frc.team3926.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

build.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project> 

src/org/usfirst/frc/team3926/robot/Robot.java

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+
+package org.usfirst.frc.team3926.robot;
+
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Talon;
+
+public class Robot extends IterativeRobot {
+	CANTalon talonSRX_FR; //Front Right
+	CANTalon talonSRX_FL; //Front Left
+	CANTalon talonSRX_BR; //Back Right
+	CANTalon talonSRX_BL; //Back Left
+	RobotDrive driveSystem;
+	Joystick leftStick;
+	Joystick rightStick;
+	Joystick XBox;
+	Talon talonLift;
+	DoubleSolenoid armSolenoid;
+
+	double lift = 0;
+	double leftInput;
+	double rightInput;
+
+	boolean aClicked = false;
+	boolean bClicked = false;
+
+    public void robotInit() {
+    	talonSRX_FR = new CANTalon(1);
+    	talonSRX_FL = new CANTalon(2);
+    	talonSRX_BR = new CANTalon(3);
+    	talonSRX_BL = new CANTalon(4);
+
+    	driveSystem = new RobotDrive(talonSRX_FL, talonSRX_BL, talonSRX_FR, talonSRX_BR);
+
+    	leftStick = new Joystick(0); //USB 0
+    	rightStick = new Joystick(1); //USB 1
+    	XBox = new Joystick(2); //USB 2
+
+    	talonLift = new Talon(0);
+
+    	armSolenoid = new DoubleSolenoid(5, 7, 6);
+    } //End robotInit()
+
+    public void autonomousPeriodic() {
+
+    } //End autonomousPeriodic()
+
+    public void teleopPeriodic() {
+    	leftInput = leftStick.getY(); //leftInput = left Y
+    	rightInput = rightStick.getY(); //rightInput = right Y
+    	lift = XBox.getY(); //lift = XBox's main (left) Y axis
+
+    	if (XBox.getRawButton(1) && !aClicked) aClicked = true; //If the a button is pressed and it hasn't already been
+    	if (XBox.getRawButton(2) && !bClicked) bClicked = true; //If the b button is pressed and it hasn't already been
+    	if (XBox.getRawButton(4) || (bClicked && aClicked)) { //If the y button is pressed or aClicked and bClicked are true (That's optional) stop cylander
+    		aClicked = false;
+    		bClicked = false;
+    	}
+
+        if (leftStick.getRawButton(1)) { //Saftey mode
+        	leftInput /= 2;
+        	rightInput /= 2;
+        }
+        if (rightStick.getRawButton(1)) leftInput = rightInput; //Forward mode
+
+        driveSystem.tankDrive(leftInput, rightInput);
+
+        if (lift != 0) talonLift.set(lift); //Left XBox Y
+        else talonLift.set(0);
+
+        if (aClicked) armSolenoid.set(DoubleSolenoid.Value.kForward); //A button open
+        else if (bClicked) armSolenoid.set(DoubleSolenoid.Value.kReverse); //B button close
+        else armSolenoid.set(DoubleSolenoid.Value.kOff);
+    } //End teleopPeriodic()
+} //End Robot