Prepare for intake arm test

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index 262d7846ce093e254eb91f6419a3da7486a14441..82e968794fd286fb7a9ec59b3d98d453c3346022 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -146,7 +146,7 @@ public class Constants {
     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 final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
+    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.1;
     public static final double STOP_INTAKE_ARM_SPEED = 0.0;
   }
 

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 75d6beff8c93e9e2de828ffe662fdf230f1045a1..5af84ac1bcc653c1f187781054fa1cb3e0cf7be4 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,9 +1,9 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.commands.driving.ChangeGear;
-import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
 import org.usfirst.frc.team3501.robot.commands.intakearm.RunBothIntakeMotors;
 import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntakeMotor;
+import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -44,6 +44,7 @@ public class OI {
   public static Button intakeBoulder;
   public static Button shootBoulder;
   public static Button toggleGear;
+
   //
   // // button to change robot to the scaling mode
   // public static DigitalButton toggleScaling;
@@ -60,39 +61,29 @@ public class OI {
         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
     shootBoulder.whenPressed(new Shoot());
 
-    recordPotAngle1 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_LEFT_BUTTON);
-    recordPotAngle1.whenPressed(new RecordPotAngle(0));
-    recordPotAngle2 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_CENTER_BUTTON);
-    recordPotAngle2.whenPressed(new RecordPotAngle(1));
-    recordPotAngle3 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_BUTTON);
-    recordPotAngle3.whenPressed(new RecordPotAngle(2));
-    recordPotAngle4 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_LOW_BUTTON);
-    recordPotAngle4.whenPressed(new RecordPotAngle(3));
-
     leftIntakeArmMotorUp = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_BOTTOM_LEFT_FORWARD_BUTTON);
-    leftIntakeArmMotorUp.whenPressed(new RunIntakeMotor(
-        Robot.intakeArm.getLeftIntakeArmMotor(),
-        Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+    leftIntakeArmMotorUp
+        .whenPressed(new RunIntakeMotor(
+            Robot.intakeArm.getLeftIntakeArmMotor(),
+            Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
     leftIntakeArmMotorDown = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_BOTTOM_LEFT_BACK_BUTTON);
-    leftIntakeArmMotorDown.whenPressed(new RunIntakeMotor(
-        Robot.intakeArm.getLeftIntakeArmMotor(),
-        -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+    leftIntakeArmMotorDown
+        .whenPressed(new RunIntakeMotor(
+            Robot.intakeArm.getLeftIntakeArmMotor(),
+            -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
 
     rightIntakeArmMotorUp = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_BOTTOM_RIGHT_FORWARD_BUTTON);
-    rightIntakeArmMotorUp.whenPressed(new RunIntakeMotor(
-        Robot.intakeArm.getRightIntakeArmMotor(),
-        Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
+    rightIntakeArmMotorUp
+        .whenPressed(new RunIntakeMotor(Robot.intakeArm
+            .getRightIntakeArmMotor(),
+            Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
     rightIntakeArmMotorDown = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_BOTTOM_RIGHT_BACK_BUTTON);
-    rightIntakeArmMotorDown.whenPressed(new RunIntakeMotor(
-        Robot.intakeArm.getRightIntakeArmMotor(),
+    rightIntakeArmMotorDown.whenPressed(new RunIntakeMotor(Robot.intakeArm
+        .getRightIntakeArmMotor(),
         -Constants.IntakeArm.DEFAULT_INTAKE_ARM_SPEED));
 
     bothIntakeArmMotorUp = new JoystickButton(leftJoystick,

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 41b0defcce39ef1ed1144d677719d924f97ff270..a060c88e8c0a42745edfc61b7aae67fb374b3f6b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -4,11 +4,9 @@ import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
-import org.usfirst.frc.team3501.robot.subsystems.Photogate;
 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;
@@ -24,16 +22,11 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
-  public static Photogate photogate;
-
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
-  // Gyro stuff
-  public GyroLib gyro;
-
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();