From: David <david.dobervich@gmail.com>
Date: Fri, 20 Nov 2015 16:07:34 +0000 (-0800)
Subject: fix conflicts
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2015-FRC-Spark;a=commitdiff_plain;h=eb9e6bd8da48f0833680f6e6705542bacacd4dd8

fix conflicts
---

eb9e6bd8da48f0833680f6e6705542bacacd4dd8
diff --cc .gitignore
index 98a068b,227a010..7a58fe3
--- a/.gitignore
+++ b/.gitignore
@@@ -1,7 -1,3 +1,10 @@@
++<<<<<<< HEAD
 +# -*- mode: gitignore; -*-
 +*~
 +\#*\#
 +.\#*
++=======
++>>>>>>> fb376f02820fc8dd8404759e2b45fa582969dc3e
  *.pydevproject
  .metadata
  .gradle
@@@ -43,4 -39,4 +46,8 @@@ local.propertie
  .texlipse
  
  # STS (Spring Tool Suite)
 -.springBeans
++<<<<<<< HEAD
 +.springBeans
++=======
++.springBeans
++>>>>>>> fb376f02820fc8dd8404759e2b45fa582969dc3e
diff --cc src/org/usfirst/frc3501/RiceCatRobot/robot/OI.java
index 0000000,6bebe54..9c391da
mode 000000,100644..100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/robot/OI.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/robot/OI.java
@@@ -1,0 -1,31 +1,31 @@@
+ package org.usfirst.frc3501.RiceCatRobot.robot;
+ 
+ import org.usfirst.frc3501.RiceCatRobot.commands.ToggleClaw;
+ import org.usfirst.frc3501.RiceCatRobot.commands.ToggleCompressor;
+ 
+ import edu.wpi.first.wpilibj.Joystick;
+ import edu.wpi.first.wpilibj.buttons.JoystickButton;
+ 
+ public class OI {
 -    public static Joystick leftJoystick;
 -    public static Joystick rightJoystick;
 -    public static JoystickButton trigger;
 -    public static JoystickButton toggleCompressor;
 -    public static JoystickButton toggleClaw;
++  public static Joystick leftJoystick;
++  public static Joystick rightJoystick;
++  public static JoystickButton trigger;
++  public static JoystickButton toggleCompressor;
++  public static JoystickButton toggleClaw;
+ 
 -    public OI() {
 -        System.out.println("OI is open");
 -        leftJoystick = new Joystick(RobotMap.LEFT_STICK_PORT);
 -        rightJoystick = new Joystick(RobotMap.RIGHT_STICK_PORT);
++  public OI() {
++    System.out.println("OI is open");
++    leftJoystick = new Joystick(RobotMap.LEFT_STICK_PORT);
++    rightJoystick = new Joystick(RobotMap.RIGHT_STICK_PORT);
+ 
 -        trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT);
++    trigger = new JoystickButton(rightJoystick, RobotMap.TRIGGER_PORT);
+ 
 -        toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT);
 -        toggleClaw.whenPressed(new ToggleClaw());
++    toggleClaw = new JoystickButton(rightJoystick, RobotMap.TOGGLE_PORT);
++    toggleClaw.whenPressed(new ToggleClaw());
+ 
 -        toggleCompressor = new JoystickButton(rightJoystick,
 -                RobotMap.TOGGLE_COMPRESSOR_PORT);
 -        toggleCompressor.whenPressed(new ToggleCompressor());
++    toggleCompressor = new JoystickButton(rightJoystick,
++        RobotMap.TOGGLE_COMPRESSOR_PORT);
++    toggleCompressor.whenPressed(new ToggleCompressor());
+ 
 -    }
++  }
+ }
diff --cc src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
index 0000000,1191d0e..e83f800
mode 000000,100644..100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
@@@ -1,0 -1,69 +1,69 @@@
+ package org.usfirst.frc3501.RiceCatRobot.robot;
+ 
+ import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
+ import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
+ import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
+ 
+ import edu.wpi.first.wpilibj.Compressor;
+ import edu.wpi.first.wpilibj.IterativeRobot;
+ import edu.wpi.first.wpilibj.Timer;
+ import edu.wpi.first.wpilibj.command.Scheduler;
+ 
+ public class Robot extends IterativeRobot {
 -    static Timer timer;
 -    public static OI oi;
 -    public static DriveTrain driveTrain;
 -    public static Arm arm;
 -    public static Claw claw;
 -    public static Compressor compressor;
++  static Timer timer;
++  public static OI oi;
++  public static DriveTrain driveTrain;
++  public static Arm arm;
++  public static Claw claw;
++  public static Compressor compressor;
+ 
 -    public void robotInit() {
 -        RobotMap.init();
 -        driveTrain = new DriveTrain();
 -        arm = new Arm();
 -        claw = new Claw();
 -        oi = new OI();
 -        compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
 -    }
++  public void robotInit() {
++    RobotMap.init();
++    driveTrain = new DriveTrain();
++    arm = new Arm();
++    claw = new Claw();
++    oi = new OI();
++    compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
++  }
+ 
 -    public void autonomousInit() {
 -    }
++  public void autonomousInit() {
++  }
+ 
 -    public void autonomousPeriodic() {
 -        Scheduler.getInstance().run();
 -    }
++  public void autonomousPeriodic() {
++    Scheduler.getInstance().run();
++  }
+ 
 -    public void teleopInit() {
 -        System.out.println("running teleopInit");
 -    }
++  public void teleopInit() {
++    System.out.println("running teleopInit");
++  }
+ 
 -    public void teleopPeriodic() {
 -        Scheduler.getInstance().run();
++  public void teleopPeriodic() {
++    Scheduler.getInstance().run();
+ 
 -    }
++  }
+ 
 -    public void operate() {
 -        driveTrain.arcadeDrive(OI.rightJoystick.getY(),
 -                OI.rightJoystick.getTwist());
 -        claw.doTriggerAction();
 -        if (OI.leftJoystick.getRawButton(8)) {
 -            arm.setArmSpeeds(0.3);
 -        } else if (OI.leftJoystick.getRawButton(9)) {
 -            arm.setArmSpeeds(-0.3);
 -        } else if (OI.leftJoystick.getRawButton(6)) {
 -            arm.setLeft(0.3);
 -        } else if (OI.leftJoystick.getRawButton(7)) {
 -            arm.setLeft(-0.3);
 -        } else if (OI.leftJoystick.getRawButton(11)) {
 -            arm.setRight(-0.3);
 -        } else if (OI.leftJoystick.getRawButton(10)) {
 -            arm.setRight(0.3);
 -        }
 -        if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
 -            arm.setArmSpeeds(0);
++  public void operate() {
++    driveTrain
++        .arcadeDrive(OI.rightJoystick.getY(), OI.rightJoystick.getTwist());
++    claw.doTriggerAction();
++    if (OI.leftJoystick.getRawButton(8)) {
++      arm.setArmSpeeds(0.3);
++    } else if (OI.leftJoystick.getRawButton(9)) {
++      arm.setArmSpeeds(-0.3);
++    } else if (OI.leftJoystick.getRawButton(6)) {
++      arm.setLeft(0.3);
++    } else if (OI.leftJoystick.getRawButton(7)) {
++      arm.setLeft(-0.3);
++    } else if (OI.leftJoystick.getRawButton(11)) {
++      arm.setRight(-0.3);
++    } else if (OI.leftJoystick.getRawButton(10)) {
++      arm.setRight(0.3);
++    }
++    if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
++      arm.setArmSpeeds(0);
+ 
 -        } else {
 -            arm.fineTuneControl(OI.leftJoystick.getY());
 -        }
++    } else {
++      arm.fineTuneControl(OI.leftJoystick.getY());
+     }
++  }
+ }
diff --cc src/org/usfirst/frc3501/RiceCatRobot/robot/RobotMap.java
index 0000000,95604c3..90f10ec
mode 000000,100644..100644
--- a/src/org/usfirst/frc3501/RiceCatRobot/robot/RobotMap.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/robot/RobotMap.java
@@@ -1,0 -1,41 +1,42 @@@
+ package org.usfirst.frc3501.RiceCatRobot.robot;
+ 
+ import edu.wpi.first.wpilibj.DoubleSolenoid;
+ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+ 
+ /**
+  * The RobotMap is a mapping from the ports sensors and actuators are wired into
+  * to a variable name. This provides flexibility changing wiring, makes checking
+  * the wiring easier and significantly reduces the number of magic numbers
+  * floating around.
+  */
+ public class RobotMap {
 -    public final static int LEFT_STICK_PORT = 0, RIGHT_STICK_PORT = 1;
 -    public final static int TRIGGER_PORT = 1, TOGGLE_PORT = 2,
 -            TOGGLE_COMPRESSOR_PORT = 11;
 -    public static final int DRIVE_FRONT_LEFT = 4, DRIVE_FRONT_RIGHT = 5,
 -            DRIVE_REAR_LEFT = 3, DRIVE_REAR_RIGHT = 6;
 -    public static final int DRIVE_LEFT_A = 3, DRIVE_LEFT_B = 4,
 -            DRIVE_RIGHT_A = 2, DRIVE_RIGHT_B = 1;
++  public final static int LEFT_STICK_PORT = 0, RIGHT_STICK_PORT = 1;
++  public final static int TRIGGER_PORT = 1, TOGGLE_PORT = 2,
++      TOGGLE_COMPRESSOR_PORT = 11;
++  public static final int DRIVE_FRONT_LEFT = 4, DRIVE_FRONT_RIGHT = 5,
++      DRIVE_REAR_LEFT = 3, DRIVE_REAR_RIGHT = 6;
++  public static final int DRIVE_LEFT_A = 3, DRIVE_LEFT_B = 4,
++      DRIVE_RIGHT_A = 2, DRIVE_RIGHT_B = 1;
+ 
 -    public static final double DISTANCE_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
++  public static final double DISTANCE_PER_PULSE =
++    ((3.66 / 5.14) * 6 * Math.PI) / 256;
+ 
 -    public static final int ARM_LEFT = 2, ARM_RIGHT = 7;
 -    public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5;
++  public static final int ARM_LEFT = 2, ARM_RIGHT = 7;
++  public static final double ARM_HIGH_SPEED = 0.5, ARM_LOW_SPEED = 0.5;
+ 
 -    // Claw
 -    public static final int SOLENOID_FORWARD = 0, SOLENOID_REVERSE = 1,
 -            MODULE_NUMBER = 0;
 -    public final static Value open = DoubleSolenoid.Value.kForward,
 -            close = DoubleSolenoid.Value.kReverse;
 -    public static double DRIVE_DEAD_ZONE = 0.25;
 -    // Compressor
 -    public static final int COMPRESSOR_PORT = 0;
++  // Claw
++  public static final int SOLENOID_FORWARD = 0, SOLENOID_REVERSE = 1,
++      MODULE_NUMBER = 0;
++  public final static Value open = DoubleSolenoid.Value.kForward,
++      close = DoubleSolenoid.Value.kReverse;
++  public static double DRIVE_DEAD_ZONE = 0.25;
++  // Compressor
++  public static final int COMPRESSOR_PORT = 0;
+ 
 -    public static void init() {
 -    }
++  public static void init() {
++  }
+ 
 -    public static enum Direction {
 -        LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
 -    }
++  public static enum Direction {
++    LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
++  }
+ }
diff --cc src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
index 4117c6a,dda70f8..c02dea9
--- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/DriveTrain.java
@@@ -8,104 -8,108 +8,108 @@@ import edu.wpi.first.wpilibj.CounterBas
  import edu.wpi.first.wpilibj.command.Subsystem;
  
  public class DriveTrain extends Subsystem {
 -    private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
 -    private Encoder leftEncoder, rightEncoder;
 +  private CANJaguar frontLeft, frontRight, rearLeft, rearRight;
 +  private Encoder leftEncoder, rightEncoder;
  
 -    public DriveTrain() {
 -        frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
 -        frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
 -        rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
 -        rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
 -        leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
 -                false, EncodingType.k4X);
 -        rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A,
 -                RobotMap.DRIVE_RIGHT_B, false, EncodingType.k4X);
 -        leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
 -        rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
 -    }
 +  public DriveTrain() {
 +    frontLeft = new CANJaguar(RobotMap.DRIVE_FRONT_LEFT);
 +    frontRight = new CANJaguar(RobotMap.DRIVE_FRONT_RIGHT);
 +    rearLeft = new CANJaguar(RobotMap.DRIVE_REAR_LEFT);
 +    rearRight = new CANJaguar(RobotMap.DRIVE_REAR_RIGHT);
 +    leftEncoder = new Encoder(RobotMap.DRIVE_LEFT_A, RobotMap.DRIVE_LEFT_B,
 +        false, EncodingType.k4X);
 +    rightEncoder = new Encoder(RobotMap.DRIVE_RIGHT_A, RobotMap.DRIVE_RIGHT_B,
 +        false, EncodingType.k4X);
 +    leftEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
 +    rightEncoder.setDistancePerPulse(RobotMap.DISTANCE_PER_PULSE);
 +  }
  
 -    public void resetEncoders() {
 -        leftEncoder.reset();
 -        rightEncoder.reset();
 -    }
 +  public void resetEncoders() {
 +    leftEncoder.reset();
 +    rightEncoder.reset();
 +  }
  
 -    public double getRightSpeed() {
 -        // Returns inches per second
 -        return rightEncoder.getRate();
 -    }
 +  public double getRightSpeed() {
-     // Returns in per second
++    // Returns inches per second
 +    return rightEncoder.getRate();
 +  }
  
 -    public double getLeftSpeed() {
 -        return leftEncoder.getRate();
 -    }
 -    
 -    public double getAverageSpeed() {
 -    	return (getRightSpeed() + getLeftSpeed())/2;
 -    }
 +  public double getLeftSpeed() {
 +    return leftEncoder.getRate();
 +  }
  
 -    public double getRightDistance() {
 -        // Returns distance in inches
 -        return rightEncoder.getDistance();
 -    }
++  public double getAverageSpeed() {
++    return (getRightSpeed() + getLeftSpeed()) / 2;
++  }
+ 
 -    public double getLeftDistance() {
 -        // Returns distance in inches
 -        return leftEncoder.getDistance();
 -    }
 +  public double getRightDistance() {
-     // Returns distance in in
++    // Returns distance in inches
 +    return rightEncoder.getDistance();
 +  }
 +
 +  public double getLeftDistance() {
-     // Returns distance in in
++    // Returns distance in inches
 +    return leftEncoder.getDistance();
 +  }
 +
++  public void stop() {
++    setMotorSpeeds(0, 0);
++  }
+ 
 -    public void stop() {
 -    	setMotorSpeeds(0, 0);
 +  public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 +    if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
 +      leftSpeed = 0;
      }
 -    
 -    public void setMotorSpeeds(double leftSpeed, double rightSpeed) {
 -        if (Math.abs(leftSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
 -            leftSpeed = 0;
 -        }
 -        if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
 -            rightSpeed = 0;
 -        }
 -        this.frontLeft.set(leftSpeed);
 -        this.frontRight.set(-rightSpeed);
 -        this.rearLeft.set(leftSpeed);
 -        this.rearRight.set(-rightSpeed);
 +    if (Math.abs(rightSpeed) < RobotMap.DRIVE_DEAD_ZONE) {
 +      rightSpeed = 0;
      }
 +    this.frontLeft.set(leftSpeed);
 +    this.frontRight.set(-rightSpeed);
 +    this.rearLeft.set(leftSpeed);
 +    this.rearRight.set(-rightSpeed);
 +  }
  
 -    public void arcadeDrive(double yVal, double twist) {
 -        if (yVal < 0 && Math.abs(yVal) < 0.1125) {
 -            yVal = 0;
 -        } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
 -            yVal = 0;
 -        } else if (yVal > 0) {
 -            yVal -= 0.25;
 -        } else if (yVal < 0) {
 -            yVal += 0.15;
 -        }
 -        if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
 -            twist = 0;
 -        }
 -
 -        double leftMotorSpeed;
 -        double rightMotorSpeed;
 -        // adjust the sensitivity (yVal+rootof (yval)) / 2
 -        yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
 -        // adjust the sensitivity (twist+rootof (twist)) / 2
 -        twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
 -        if (yVal > 0) {
 -            if (twist > 0) {
 -                leftMotorSpeed = yVal - twist;
 -                rightMotorSpeed = Math.max(yVal, twist);
 -            } else {
 -                leftMotorSpeed = Math.max(yVal, -twist);
 -                rightMotorSpeed = yVal + twist;
 -            }
 -        } else {
 -            if (twist > 0.0) {
 -                leftMotorSpeed = -Math.max(-yVal, twist);
 -                rightMotorSpeed = yVal + twist;
 -            } else {
 -                leftMotorSpeed = yVal - twist;
 -                rightMotorSpeed = -Math.max(-yVal, -twist);
 -            }
 -        }
 -        setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
 +  public void arcadeDrive(double yVal, double twist) {
 +    if (yVal < 0 && Math.abs(yVal) < 0.1125) {
 +      yVal = 0;
 +    } else if (yVal > 0 && Math.abs(yVal) < 0.25) {
 +      yVal = 0;
 +    } else if (yVal > 0) {
 +      yVal -= 0.25;
 +    } else if (yVal < 0) {
 +      yVal += 0.15;
 +    }
 +    if (Math.abs(twist) < RobotMap.DRIVE_DEAD_ZONE) {
 +      twist = 0;
      }
  
 -    @Override
 -    protected void initDefaultCommand() {
 +    double leftMotorSpeed;
 +    double rightMotorSpeed;
 +    // adjust the sensitivity (yVal+rootof (yval)) / 2
 +    yVal = (yVal + Math.signum(yVal) * Math.sqrt(Math.abs(yVal))) / 2;
 +    // adjust the sensitivity (twist+rootof (twist)) / 2
 +    twist = (twist + Math.signum(twist) * Math.sqrt(Math.abs(twist))) / 2;
 +    if (yVal > 0) {
 +      if (twist > 0) {
 +        leftMotorSpeed = yVal - twist;
 +        rightMotorSpeed = Math.max(yVal, twist);
 +      } else {
 +        leftMotorSpeed = Math.max(yVal, -twist);
 +        rightMotorSpeed = yVal + twist;
 +      }
 +    } else {
 +      if (twist > 0.0) {
 +        leftMotorSpeed = -Math.max(-yVal, twist);
 +        rightMotorSpeed = yVal + twist;
 +      } else {
 +        leftMotorSpeed = yVal - twist;
 +        rightMotorSpeed = -Math.max(-yVal, -twist);
 +      }
      }
 +    setMotorSpeeds(leftMotorSpeed, rightMotorSpeed);
 +  }
 +
 +  @Override
 +  protected void initDefaultCommand() {
 +  }
- 
-   public void stop() {
-     setMotorSpeeds(0, 0);
-   }
  }