fix Robot.java bug: intantiate IntakeArm subsystem, not constants

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 23412d6c41078e6a668de7eb126d6c825f308f49..f4001774cf4e607cfcbb9aa3e1763557c1cf0eda 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,44 +7,40 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
-  public static OI oi;
-  public static DriveTrain driveTrain;
-  public static Shooter shooter;
-
-  public static Scaler scaler;
-
-  public static IntakeArm intakeArm;
-  public static DefenseArm defenseArm;
+       public static OI oi;
+       public static DriveTrain driveTrain;
+       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;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-  positionFourDefense, positionFiveDefense;
-
-  // Gyro stuff
-  public GyroLib gyro;
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
-
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
     intakeArm = new IntakeArm();
 
+    // Sendable Choosers allows the driver to select the position of the robot
+    // and the positions of the defenses from a drop-down menu on the Smart
+    // Dashboard
+    // make the Sendable Choosers
     initializeSendableChoosers();
     addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChoosers();
+    addDefensesToAllDefenseSendableChooosers();
     sendSendableChoosersToSmartDashboard();
 
   }
@@ -66,7 +62,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChoosers() {
+  private void addDefensesToAllDefenseSendableChooosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -95,14 +91,6 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
-
-    SmartDashboard.putData("Position Four Defense Chooser",
-        positionFourDefense);
-    SmartDashboard.putData("Position Five Defense Chooser",
-        positionFiveDefense);
-
-    shooter = new Shooter();
-
   }
 
   @Override
@@ -137,17 +125,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
-
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/AimAndAlign.java b/src/org/usfirst/frc/team3501/robot/commands/AimAndAlign.java
index 72819405792ffcd917079572f782055d9ca17551..987131d90ee44d12950c58b524c6ea0ee8c054bb 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/AimAndAlign.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/AimAndAlign.java
@@ -9,10 +9,14 @@ public class AimAndAlign extends Command {
 
        @Override
        protected void initialize() {
+               Robot.intakeArm.getArmAngle();
        }
 
        @Override
        protected void execute() {
+               if (Robot.intakeArm.getArmVoltage() == 1) {
+
+               }
        }
 
        @Override