Delete StopWinch and Climber subsystem, edit javadoc comments

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index bbbb4ccc1ee345987df68406c60e66c2aa2d72fb..c93d6434bffd871ff429ec5822709a8d59ffabf6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -27,12 +27,6 @@ public class Constants {
     public static final int ENCODER_RIGHT_B = 3;
   }
 
-  public static class Climber {
-    // MOTOR CONTROLLERS
-    public static final int MOTOR = 1;
-
-  }
-
   public static enum Direction {
     LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
   }

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 9d178dadd1796ec79f931ff99f7c02610d2bf2bc..b18f7a5bec59dad0a6f5e85873f08e936cc4400d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
-import org.usfirst.frc.team3501.robot.subsystems.Climber;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
@@ -11,14 +10,12 @@ import edu.wpi.first.wpilibj.command.Scheduler;
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static OI oi;
-  private static Climber climber;
   private static Shooter shooter;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
-    climber = Climber.getClimber();
     shooter = Shooter.getShooter();
 
   }
@@ -27,18 +24,10 @@ public class Robot extends IterativeRobot {
     return DriveTrain.getDriveTrain();
   }
 
-  public static Climber getClimber() {
-    return Climber.getClimber();
-  }
-
   public static OI getOI() {
     return OI.getOI();
   }
 
-  public static Climber getClimber() {
-    return Climber.getClimber();
-  }
-
   public static Shooter getShooter() {
     return Shooter.getShooter();
   }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 5acd6d1e1042736d59ee83a819bc5350d05e1846..f02ed62510aabf2a731addd2a04f675a009627f8 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@ -7,7 +7,7 @@ import edu.wpi.first.wpilibj.command.Command;
 
 /**
  * This command runs the winch at a specified speed and time in seconds when the
- * button triggering it is pressed.
+ * button triggering it is pressed. This command also runs the drive train.
  *
  * pre-condition: This command is run by a button in OI. The robot must be
  * attached to the rope.
@@ -28,12 +28,15 @@ public class RunWinch extends Command {
   private double motorVal;
 
   /**
+   * See JavaDoc comment in class for details
    *
-   * @author shivanighanta
-   *
+   * @param time
+   *          time in seconds to run the winch
+   * @param motorVal
+   *          value range is from -1 to 1
    */
   public RunWinch(double time, double motorVal) {
-    requires(Robot.getClimber());
+    requires(Robot.getDriveTrain());
     this.time = time;
     this.motorVal = motorVal;
   }
@@ -41,11 +44,11 @@ public class RunWinch extends Command {
   @Override
   protected void initialize() {
     timer.start();
-    Robot.getClimber().setMotorValue(motorVal);
   }
 
   @Override
   protected void execute() {
+    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
 
   }
 
@@ -56,7 +59,8 @@ public class RunWinch extends Command {
 
   @Override
   protected void end() {
-    Robot.getClimber().stop();
+    Robot.getDriveTrain().stop();
+
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
index f99af49e64ae56fd4ec860e9438cbf6353eb3029..6b8209bd40e835ff68bd3c243dfcd4a4dbd49de2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -6,7 +6,7 @@ import edu.wpi.first.wpilibj.command.Command;
 
 /**
  * This command will run the winch motor continuously until the button
- * triggering it is released.
+ * triggering it is released. This command also runs the drive train.
  *
  * pre-condition: This command must be run by a button in OI. The robot must be
  * attached to the rope.
@@ -23,17 +23,19 @@ public class RunWinchContinuous extends Command {
   private double motorVal;
 
   /**
-   * 
+   * See JavaDoc comment in class for details
+   *
    * @param motorVal
+   *          value range is from -1 to 1
    */
   public RunWinchContinuous(double motorVal) {
-    requires(Robot.getClimber());
+    requires(Robot.getDriveTrain());
     this.motorVal = motorVal;
   }
 
   @Override
   protected void initialize() {
-    Robot.getClimber().setMotorValue(motorVal);
+    Robot.getDriveTrain().setMotorValues(motorVal, motorVal);
 
   }
 
@@ -44,12 +46,12 @@ public class RunWinchContinuous extends Command {
 
   @Override
   protected boolean isFinished() {
-    return !Robot.getOI().toggleWinch.get();
+    return false;
   }
 
   @Override
   protected void end() {
-    Robot.getClimber().stop();
+
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
deleted file mode 100644 (file)
index a119c91..0000000
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
+++ /dev/null
@@ -1,47 +0,0 @@
-package org.usfirst.frc.team3501.robot.commands.climber;
-
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.command.Command;
-
-/**
- * This command stops the winch
- *
- * post-condition: the motor values are set to 0.
- *
- * @author shivanighanta
- *
- */
-public class StopWinch extends Command {
-  /**
-   * 
-   */
-  public StopWinch() {
-    requires(Robot.getClimber());
-
-  }
-
-  @Override
-  protected void initialize() {
-  }
-
-  @Override
-  protected void execute() {
-  }
-
-  @Override
-  protected boolean isFinished() {
-    return true;
-  }
-
-  @Override
-  protected void end() {
-    Robot.getClimber().stop();
-
-  }
-
-  @Override
-  protected void interrupted() {
-    end();
-  }
-}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
deleted file mode 100644 (file)
index 3d49f90..0000000
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
+++ /dev/null
@@ -1,32 +0,0 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import org.usfirst.frc.team3501.robot.Constants;
-
-import com.ctre.CANTalon;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class Climber extends Subsystem {
-  private static Climber climber;
-  private final CANTalon motor;
-
-  private Climber() {
-    motor = new CANTalon(Constants.Climber.MOTOR);
-  }
-
-  public static Climber getClimber() {
-    if (climber == null) {
-      climber = new Climber();
-    }
-    return climber;
-  }
-
-  public void stop() {
-    setMotorValue(0);
-  }
-
-  public void setMotorValue(final double val) {
-    motor.set(MOTOR);
-
-  }
-}