fix compile errors that somehow got into master

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 79efd230ce862dfe0a450c0ba59d2fa5bc480a8d..d17d1da90c6136948905e7d8fa41b7216a555c11 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -9,93 +9,96 @@ import edu.wpi.first.wpilibj.DoubleSolenoid;
  */
 
 public class Constants {
-       public static class OI {
-               // Computer Ports
-               public final static int LEFT_STICK_PORT = 0;
-               public final static int RIGHT_STICK_PORT = 1;
-               // Ports on the Joystick
-               public final static int TRIGGER_PORT = 1;
-               public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
-               public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
-               public final static int SHOOT_PORT = 4;
-               public final static int LOG_PORT = 5;
-       }
+  public static class OI {
+    // Computer Ports
+    public final static int LEFT_STICK_PORT = 0;
+    public final static int RIGHT_STICK_PORT = 1;
+    // Ports on the Joystick
+    public final static int TRIGGER_PORT = 1;
+    public final static int DECREMENT_SHOOTER_SPEED_PORT = 2;
+    public final static int INCREMENT_SHOOTER_SPEED_PORT = 3;
+    public final static int SHOOT_PORT = 4;
+    public final static int LOG_PORT = 5;
+  }
 
-       public static class DriveTrain {
-               // Drivetrain Motor Related Ports
-               public static final int FRONT_LEFT = 0;
-               public static final int FRONT_RIGHT = 0;
-               public static final int REAR_LEFT = 0;
-               public static final int REAR_RIGHT = 0;
+  public static class DriveTrain {
+    // Drivetrain Motor Related Ports
+    public static final int FRONT_LEFT = 0;
+    public static final int FRONT_RIGHT = 0;
+    public static final int REAR_LEFT = 0;
+    public static final int REAR_RIGHT = 0;
 
-               // Encoder related ports
-               public final static int ENCODER_LEFT_A = 3;
-               public final static int ENCODER_LEFT_B = 4;
-               public final static int ENCODER_RIGHT_A = 2;
-               public final static int ENCODER_RIGHT_B = 1;
+    // Encoder related ports
+    public final static int ENCODER_LEFT_A = 3;
+    public final static int ENCODER_LEFT_B = 4;
+    public final static int ENCODER_RIGHT_A = 2;
+    public final static int ENCODER_RIGHT_B = 1;
 
-               private final static double WHEEL_DIAMETER = 6.0; // in inches
-               private final static double PULSES_PER_ROTATION = 256; // in pulses
-               private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
-               private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
-               public final static double INCHES_PER_PULSE = (((Math.PI) * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
-                               / WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
-       }
+    private final static double WHEEL_DIAMETER = 6.0; // in inches
+    private final static double PULSES_PER_ROTATION = 256; // in pulses
+    private final static double OUTPUT_SPROCKET_DIAMETER = 2.0; // in inches
+    private final static double WHEEL_SPROCKET_DIAMETER = 3.5; // in inches
+    public final static double INCHES_PER_PULSE = (((Math.PI)
+        * OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
+        / WHEEL_SPROCKET_DIAMETER)
+        * WHEEL_DIAMETER;
+  }
 
-       public static class Scaler {
-               // Piston channels
-               public final static int FORWARD_CHANNEL = 0;
-               public final static int REVERSE_CHANNEL = 0;
+  public static class Scaler {
+    // Piston channels
+    public final static int FORWARD_CHANNEL = 0;
+    public final static int REVERSE_CHANNEL = 0;
 
-               // Winch port
-               public final static int WINCH_MOTOR = 0;
-       }
+    // Winch port
+    public final static int WINCH_MOTOR = 0;
+  }
 
-       public static class Shooter {
-               public static final int PORT = 0;
-               public static final int PUNCH_FORWARD_PORT = 0;
-               public static final int PUNCH_REVERSE_PORT = 1;
-               public static final int ANGLE_ADJUSTER_PORT = 0;
+  public static class Shooter {
+    public static final int PORT = 0;
+    public static final int PUNCH_FORWARD_PORT = 0;
+    public static final int PUNCH_REVERSE_PORT = 1;
+    public static final int ANGLE_ADJUSTER_PORT = 0;
 
-               public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
-               public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
+    public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+    public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 
-               // Encoder port
-               public static final int ENCODER_PORT_A = 0;
-               public static final int ENCODER_PORT_B = 0;
+    // Encoder port
+    public static final int ENCODER_PORT_A = 0;
+    public static final int ENCODER_PORT_B = 0;
 
-               public static enum State {
-                       RUNNING, STOPPED;
-               }
-       }
+    public static enum State {
+      RUNNING, STOPPED;
+    }
+  }
 
-       public static class IntakeArm {
-               public static final int ROLLER_PORT = 0;
-               public static final int ARM_PORT = 1;
-               public static final int POT_CHANNEL = 0;
-               public static final double INTAKE_SPEED = 0.5;
-               public static final double OUTPUT_SPEED = -0.5;
-               public final static double FULL_RANGE = 270.0; // in degrees
-               public final static double OFFSET = -135.0; // in degrees
-       }
+  public static class IntakeArm {
+    public static final int ROLLER_PORT = 0;
+    public static final int ARM_PORT = 1;
+    public static final int POT_CHANNEL = 0;
+    public static final double INTAKE_SPEED = 0.5;
+    public static final double OUTPUT_SPEED = -0.5;
+    public final static double FULL_RANGE = 270.0; // in degrees
+    public final static double OFFSET = -135.0; // in degrees
+    public static final double ZERO_ANGLE = 0;
+  }
 
-       public static class DefenseArm {
-               // Potentiometer related ports
-               public static final int ARM_CHANNEL = 0;
-               public static final int ARM_PORT = 0;
-               public static final int HAND_PORT = 1;
-               public static final int HAND_CHANNEL = 1;
-               public final static double FULL_RANGE = 270.0; // in degrees
-               public final static double OFFSET = -135.0; // in degrees
-               public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
-                                                                                                                                               // level
-               public final static double ARM_LENGTH = 0; // TODO: find actual length
-               public final static double HAND_LENGTH = 0; // TODO: find actual length
-               public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
-                                                                                                                       // height
-       }
+  public static class DefenseArm {
+    // Potentiometer related ports
+    public static final int ARM_CHANNEL = 0;
+    public static final int ARM_PORT = 0;
+    public static final int HAND_PORT = 1;
+    public static final int HAND_CHANNEL = 1;
+    public final static double FULL_RANGE = 270.0; // in degrees
+    public final static double OFFSET = -135.0; // in degrees
+    public final static double[] armPotValue = { 0.0, 45.0, 90.0 }; // 3
+    // level
+    public final static double ARM_LENGTH = 0; // TODO: find actual length
+    public final static double HAND_LENGTH = 0; // TODO: find actual length
+    public final static double ARM_MOUNTED_HEIGHT = 0; // TODO: find actual
+    // height
+  }
 
-       public enum Defense {
-               PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
-       }
+  public enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL, RAMPART;
+  }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index ea7910b607f05090ca31e46446fa6f0f33ee2654..154c5c715655b54e14261a88bc177271765d4211 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -18,6 +18,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
   public static Scaler scaler;
   public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;