From: EvanYap <evanyap.14@gmail.com>
Date: Tue, 17 Nov 2015 05:22:52 +0000 (-0800)
Subject: add command to robot.java to actually run the LimitSwitchTest
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=refs%2Fheads%2Farraytest;p=3501%2F2015-FRC-Spark

add command to robot.java to actually run the LimitSwitchTest
---

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java
index 0e4d934..c65eac9 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java
@@ -1,5 +1,6 @@
 package org.usfirst.frc3501.RiceCatRobot;
 
+import org.usfirst.frc3501.RiceCatRobot.commands.LimitSwitchTest;
 import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
 import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
 import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
@@ -35,6 +36,7 @@ public class Robot extends IterativeRobot {
 
   public void teleopInit() {
     System.out.println("running teleopInit");
+    Scheduler.getInstance().add(new LimitSwitchTest());
   }
 
   public void teleopPeriodic() {
diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java
index daedb3c..3350a83 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java
@@ -4,7 +4,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class LimitSwitchTest extends CommandGroup {
 	/**
-	 * It is necessary for all commands to be used. From MoveArmToLevel1 - MoveArmToLevel3
+	 * It is necessary for all commands to be used. 
+	 * From MoveArmToLevel1 - MoveArmToLevel3
 	 */
 	
 	public LimitSwitchTest() {
diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java
index 158a4be..c5cf68a 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java
@@ -1,26 +1,26 @@
 package org.usfirst.frc3501.RiceCatRobot.commands;
 
-import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
+import org.usfirst.frc3501.RiceCatRobot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveArmToLevel1 extends Command {
-	Arm arm;
+	
 	double slowSpeed = 0.2;
 
 	public MoveArmToLevel1() {
-		arm.setArmSpeeds(slowSpeed);
+		Robot.arm.setArmSpeeds(slowSpeed);
 	}
 
 	protected void initialize() {
-		arm.initializeCounters();
+		Robot.arm.initializeCounters();
 	}
 
 	protected void execute() {
 	}
 
 	protected boolean isFinished() {
-		return arm.isSwitch1Hit();
+		return Robot.arm.isSwitch1Hit();
 	}
 
 	protected void end() {
diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java
index 4152739..2cd560c 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java
@@ -1,27 +1,26 @@
 package org.usfirst.frc3501.RiceCatRobot.commands;
 
-import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
+import org.usfirst.frc3501.RiceCatRobot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveArmToLevel2 extends Command {
-	Arm arm;
 	double slowSpeed = 0.2;
 	public MoveArmToLevel2() {
-		if(arm.getArmSpeed() == 0.0) {
-			arm.setArmSpeeds(slowSpeed);
+		if(Robot.arm.getArmSpeed() == 0.0) {
+			Robot.arm.setArmSpeeds(slowSpeed);
 		}
 	}
 
 	protected void initialize() {
-		arm.initializeCounters();
+		Robot.arm.initializeCounters();
 	}
 
 	protected void execute() {
 	}
 
 	protected boolean isFinished() {
-		return arm.isSwitch2Hit();
+		return Robot.arm.isSwitch2Hit();
 	}
 
 	protected void end() {
diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java
index d969dee..fbbf32a 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java
@@ -1,34 +1,34 @@
 package org.usfirst.frc3501.RiceCatRobot.commands;
 
+import org.usfirst.frc3501.RiceCatRobot.Robot;
 import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveArmToLevel3 extends Command {
-	Arm arm;
 
 	double slowSpeed = 0.2;
 
 	public MoveArmToLevel3() {
-		if (arm.getArmSpeed() == 0.0) {
-			arm.setArmSpeeds(slowSpeed);
+		if (Robot.arm.getArmSpeed() == 0.0) {
+			Robot.arm.setArmSpeeds(slowSpeed);
 		}
 	}
 
 	protected void initialize() {
-		arm.initializeCounters();
+		Robot.arm.initializeCounters();
 	}
 
 	protected void execute() {
 	}
 
 	protected boolean isFinished() {
-		return arm.isSwitch3Hit();
+		return Robot.arm.isSwitch3Hit();
 	}
 
 	protected void end() {
 		System.out.println("Robot arm has reached level 3");
-		arm.stop();
+		Robot.arm.stop();
 	}
 
 	protected void interrupted() {
diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
index a29262a..9aff8c1 100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java
@@ -17,6 +17,9 @@ public class Arm extends Subsystem {
 	public Arm() {
 		left = new CANJaguar(RobotMap.ARM_LEFT);
 		right = new CANJaguar(RobotMap.ARM_RIGHT);
+		
+		setDigitalInputValues();
+		setCountersCorrespondingToSwitches();
 	}
 
 	public void setDigitalInputValues() {