From b3bdd589f32d9c152d05388ae3ad0d9e56ec833c Mon Sep 17 00:00:00 2001
From: Kevin Zhang <icestormf1@gmail.com>
Date: Mon, 22 Feb 2016 16:29:24 -0800
Subject: [PATCH] Add testing stuff

---
 src/org/usfirst/frc/team3501/robot/Robot.java    | 11 +++++++++--
 .../team3501/robot/subsystems/DriveTrain.java    | 16 ++++++++--------
 .../frc/team3501/robot/subsystems/Scaler.java    |  2 +-
 3 files changed, 18 insertions(+), 11 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 19fa056a..1f86b9bc 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -8,6 +8,7 @@ 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.Compressor;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -23,10 +24,12 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
+  public static Compressor compressor;
+
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-  positionFourDefense, positionFiveDefense;
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
@@ -41,6 +44,7 @@ public class Robot extends IterativeRobot {
     // addPositionChooserOptions();
     // addDefensesToAllDefenseSendableChoosers();
     // sendSendableChoosersToSmartDashboard();
+    compressor = new Compressor();
 
   }
 
@@ -121,8 +125,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Scheduler.getInstance().add(new JoystickDrive());
 
+    Scheduler.getInstance().add(new JoystickDrive());
+    compressor.start();
+    driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
+    driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
index a7fa8eea..cde94b8f 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/DriveTrain.java
@@ -28,7 +28,7 @@ public class DriveTrain extends PIDSubsystem {
   private RobotDrive robotDrive;
 
   private GyroLib gyro;
-  private DoubleSolenoid leftGearPiston, rightGearPiston;
+  public DoubleSolenoid leftGearPiston, rightGearPiston;
 
   // Drivetrain specific constants that relate to the inches per pulse value for
   // the encoders
@@ -197,10 +197,10 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * Method is a required method that the PID Subsystem uses to return the
    * calculated PID value to the driver
-   *
+   * 
    * @param Gives the user the output from the PID algorithm that is calculated
    * internally
-   *
+   * 
    * Body: Uses the output, does some filtering and drives the robot
    */
   @Override
@@ -229,7 +229,7 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Checks the drive mode
-   *
+   * 
    * @return the current state of the robot in each state Average distance from
    * both sides of tank drive for Encoder Mode Angle from the gyro in GYRO_MODE
    */
@@ -265,9 +265,9 @@ public class DriveTrain extends PIDSubsystem {
   /*
    * constrains the distance to within -100 and 100 since we aren't going to
    * drive more than 100 inches
-   *
+   * 
    * Configure Encoder PID
-   *
+   * 
    * Sets the setpoint to the PID subsystem
    */
   public void driveDistance(double dist, double maxTimeOut) {
@@ -307,10 +307,10 @@ public class DriveTrain extends PIDSubsystem {
 
   /*
    * Turning method that should be used repeatedly in a command
-   *
+   * 
    * First constrains the angle to within -360 and 360 since that is as much as
    * we need to turn
-   *
+   * 
    * Configures Gyro PID and sets the setpoint as an angle
    */
   public void turnAngle(double angle) {
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index e56e4a81..283b1e6c 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -12,7 +12,7 @@ public class Scaler extends Subsystem {
   private CANTalon winch;
 
   public Scaler() {
-    scaler = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
+    scaler = new DoubleSolenoid(9, Constants.Scaler.FORWARD_CHANNEL,
         Constants.Scaler.REVERSE_CHANNEL);
     winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
   }
-- 
2.30.2