Add code for toggleDrivePiston

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 176226766f140da6ce7108b3fb0ca093e4c1c6ce..91a5cc7f2a664980af0a0a51f5bb4aa1aac627e8 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -36,8 +36,10 @@ public class Constants {
 
     public final static int HALL_EFFECT_PORT = 9;
 
-    public static final int PISTON_MODULE = 10, PISTON_FORWARD = 0,
-        PISTON_REVERSE = 1;
+    public final static int TOGGLE_INDEXER = 8;
+
+    public static final int PISTON_MODULE = 10, PISTON_FORWARD = 4,
+        PISTON_REVERSE = 5;
     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
   }
@@ -50,6 +52,8 @@ public class Constants {
     public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
     public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
 
+    public final static int TOGGLE_DRIVE_PISTON = 7;
+
     // MOTOR CONTROLLERS
     public static final int FRONT_LEFT = 1;
     public static final int FRONT_RIGHT = 3;

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index bf3c20f34b0d08ce94ab5970d566dc32aaaae293..76d9a7f2f2a664d18c6c9b436237178602f93896 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,9 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
-import java.awt.event.KeyEvent;
-import java.awt.event.KeyListener;
-
 import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
+import org.usfirst.frc.team3501.robot.commands.driving.ToggleDrivePiston;
 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
@@ -12,13 +10,13 @@ import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
-import org.usfirst.frc.team3501.robot.utils.ChangeCameraView;
+import org.usfirst.frc.team3501.robot.commands.shooter.ToggleIndexerPiston;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
-public class OI implements KeyListener {
+public class OI /* implements KeyListener */ {
   private static OI oi;
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
@@ -38,13 +36,24 @@ public class OI implements KeyListener {
 
   private static Button changeCam;
 
+  private static Button togglePiston;
+  private static Button toggleDriveTrainPiston;
+
   public OI() {
+
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
     runIndexWheel = new JoystickButton(rightJoystick,
         Constants.OI.RUN_INDEXWHEEL_PORT);
-    runIndexWheel.whileHeld(new RunIndexWheelContinuous());
+    runIndexWheel.whileHeld(
+        new RunIndexWheelContinuous()); /*
+                                         * { double shooterSpeed =
+                                         * (Robot.getShooter()).getShooterRPM();
+                                         * if (shooterSpeed > 0) {
+                                         * Robot.getShooter().runIndexWheel(); }
+                                         * });
+                                         */
 
     reverseIndexWheel = new JoystickButton(rightJoystick,
         Constants.OI.REVERSE_INDEXWHEEL_PORT);
@@ -77,9 +86,19 @@ public class OI implements KeyListener {
         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
 
-    changeCam = new JoystickButton(rightJoystick,
-        Constants.OI.CHANGE_CAMERA_VIEW);
-    changeCam.toggleWhenPressed(new ChangeCameraView());
+    /*
+     * changeCam = new JoystickButton(rightJoystick,
+     * Constants.OI.CHANGE_CAMERA_VIEW); changeCam.toggleWhenPressed(new
+     * ChangeCameraView());
+     */
+
+    togglePiston = new JoystickButton(rightJoystick,
+        Constants.Shooter.TOGGLE_INDEXER);
+    togglePiston.whenPressed(new ToggleIndexerPiston());
+
+    toggleDriveTrainPiston = new JoystickButton(rightJoystick,
+        Constants.DriveTrain.TOGGLE_DRIVE_PISTON);
+    toggleDriveTrainPiston.whenPressed(new ToggleDrivePiston());
   }
 
   public static OI getOI() {
@@ -88,20 +107,16 @@ public class OI implements KeyListener {
     return oi;
   }
 
-  @Override
-  public void keyTyped(KeyEvent e) {
-
-  }
-
-  @Override
-  public void keyPressed(KeyEvent e) {
-    // TODO Auto-generated method stub
-
-  }
-
-  @Override
-  public void keyReleased(KeyEvent e) {
-    // TODO Auto-generated method stub
+  /*
+   * @Override public void keyPressed(KeyEvent e) { if (e.getKeyCode() ==
+   * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
+   * Robot.getShooter().runIndexWheel(); } }
+   *
+   * @Override public void keyReleased(KeyEvent e) { if (e.getKeyCode() ==
+   * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
+   * Robot.getShooter().stopIndexWheel(); } }
+   *
+   * @Override public void keyTyped(KeyEvent e) { }
+   */
 
-  }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
new file mode 100644 (file)
index 0000000..ad13cc0
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/ToggleDrivePiston.java
@@ -0,0 +1,58 @@
+package org.usfirst.frc.team3501.robot.commands.driving;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ToggleDrivePiston extends Command {
+  private DriveTrain driveTrain = Robot.getDriveTrain();
+
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   */
+  public ToggleDrivePiston() {
+    requires(driveTrain);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if (DriveTrain.getDriveTrain()
+        .getLeftGearPistonValue() == Constants.DriveTrain.HIGH_GEAR) {
+      DriveTrain.getDriveTrain().setLowGear();
+    } else {
+      DriveTrain.getDriveTrain().setHighGear();
+    }
+
+    // check to make sure that both pistons are set to the same gear. Otherwise,
+    // the code must be changed
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+
+  }
+
+}

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index 31fda94b45258565c1682306f8c7ada60828c50b..932e8453571534091963f90b9b84a2dabfcd1a33 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@ -1,10 +1,8 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
 
-import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
@@ -21,7 +19,7 @@ import edu.wpi.first.wpilibj.command.Command;
  */
 public class RunIndexWheelContinuous extends Command {
   private Shooter shooter = Robot.getShooter();
-  private Timer t = new Timer();
+  // private Timer t = new Timer();
 
   /**
    * See JavaDoc comment in class for details
@@ -31,24 +29,23 @@ public class RunIndexWheelContinuous extends Command {
    */
   public RunIndexWheelContinuous() {
     requires(shooter);
+    // t.start();
   }
 
   // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-    t.reset();
+    // t.reset();
   }
 
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
-    if (t.get() % 1 == 0) {
-      if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
-        Shooter.getShooter().setHighGear();
-      } else {
-        Shooter.getShooter().setLowGear();
-      }
-    }
+    /*
+     * if (t.get() >= 4) { if (Shooter.getShooter().getPistonValue() ==
+     * Constants.Shooter.LOW_GEAR) { Shooter.getShooter().setHighGear(); } else
+     * { Shooter.getShooter().setLowGear(); } }
+     */
 
     double shooterSpeed = shooter.getShooterRPM();
     if (shooterSpeed > 0)

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/ToggleIndexerPiston.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/ToggleIndexerPiston.java
new file mode 100644 (file)
index 0000000..42cf3bc
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/ToggleIndexerPiston.java
@@ -0,0 +1,55 @@
+package org.usfirst.frc.team3501.robot.commands.shooter;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ToggleIndexerPiston extends Command {
+  private Shooter shooter = Robot.getShooter();
+
+  /**
+   * See JavaDoc comment in class for details
+   *
+   * @param motorVal
+   *          value range from -1 to 1
+   */
+  public ToggleIndexerPiston() {
+    requires(shooter);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
+      Shooter.getShooter().setHighGear();
+    } else {
+      Shooter.getShooter().setLowGear();
+    }
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+    end();
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+
+  }
+
+}