From: Harel Dor <hareldor@gmail.com>
Date: Fri, 25 Mar 2016 20:52:59 +0000 (-0700)
Subject: Remove sendable choosers, fix joystick driving bug, use right twist instead of right... 
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=c859a8e2f7dcd8ce870586ec5a87f459b97a362c

Remove sendable choosers, fix joystick driving bug, use right twist instead of right x for twist
---

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 2b58d19d..e3b51888 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.CameraServer;
 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;
@@ -30,38 +29,21 @@ public class Robot extends IterativeRobot {
 
     oi = new OI();
 
-    initializeSendableChooser();
-    addFrontChooserOptions();
-    sendSendableChooserToSmartDashboard();
-
     camera = CameraServer.getInstance();
-    camera.setQuality(50);
+    camera.setQuality(25);
     camera.startAutomaticCapture("cam0");
   }
 
-  private void initializeSendableChooser() {
-    frontChooser = new SendableChooser();
-  }
-
-  private void addFrontChooserOptions() {
-    frontChooser.addDefault("Intake", false);
-    frontChooser.addObject("Shooter", true);
-  }
-
-  private void sendSendableChooserToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", frontChooser);
-  }
-
   @Override
   public void autonomousInit() {
-    // get options chosen from drop down menu
-    boolean flip = (boolean) frontChooser.getSelected();
-
-    if (flip) {
-      driveTrain.toggleFlipped();
-    }
-
-    Scheduler.getInstance().add(new TimeDrive(4, .7));
+    //
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.RETRACT));
+    // Scheduler.getInstance().add(new TimeDrive(1, .6));
+    // Scheduler.getInstance().add(new WaitCommand(1));
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.EXTEND));
+    Scheduler.getInstance().add(new TimeDrive(8, -.8));
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
index c246ccfa..fe1a9726 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/driving/JoystickDrive.java
@@ -22,7 +22,7 @@ public class JoystickDrive extends Command {
   @Override
   protected void execute() {
     double left = -OI.leftJoystick.getY();
-    double right = -OI.rightJoystick.getX();
+    double right = -OI.rightJoystick.getTwist();
     Robot.driveTrain.drive(left, right);
   }
 
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index f1daa637..eb819f1c 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -198,7 +198,7 @@ public class DriveTrain extends PIDSubsystem {
     double k = (isFlipped() ? -1 : 1);
 
     // During teleop, leftY is throttle, rightX is twist.
-    robotDrive.arcadeDrive(-left * k, -right * k);
+    robotDrive.arcadeDrive(-left * k, -right);
   }
 
   public void setMotorSpeeds(double left, double right) {