Initial commit of Command Based Robotorig

5 files changed, 194 insertions, 0 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2015/OI.java b/src/org/usfirst/frc/team4272/robot2015/OI.java
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+++ b/src/org/usfirst/frc/team4272/robot2015/OI.java
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+package org.usfirst.frc.team4272.robot2015;
+
+import edu.wpi.first.wpilibj.buttons.Button;
+import org.usfirst.frc.team4272.robot2015.commands.ExampleCommand;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+    //// CREATING BUTTONS
+    // One type of button is a joystick button which is any button on a joystick.
+    // You create one by telling it which joystick it's on and which button
+    // number it is.
+    // Joystick stick = new Joystick(port);
+    // Button button = new JoystickButton(stick, buttonNumber);
+    
+    // There are a few additional built in buttons you can use. Additionally,
+    // by subclassing Button you can create custom triggers and bind those to
+    // commands the same as any other Button.
+    
+    //// TRIGGERING COMMANDS WITH BUTTONS
+    // Once you have a button, it's trivial to bind it to a button in one of
+    // three ways:
+    
+    // Start the command when the button is pressed and let it run the command
+    // until it is finished as determined by it's isFinished method.
+    // button.whenPressed(new ExampleCommand());
+    
+    // Run the command while the button is being held down and interrupt it once
+    // the button is released.
+    // button.whileHeld(new ExampleCommand());
+    
+    // Start the command when the button is released  and let it run the command
+    // until it is finished as determined by it's isFinished method.
+    // button.whenReleased(new ExampleCommand());
+}
+
diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java
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+++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java
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+
+package org.usfirst.frc.team4272.robot2015;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import org.usfirst.frc.team4272.robot2015.commands.ExampleCommand;
+import org.usfirst.frc.team4272.robot2015.subsystems.ExampleSubsystem;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends IterativeRobot {
+
+	public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
+	public static OI oi;
+
+    Command autonomousCommand;
+
+    /**
+     * This function is run when the robot is first started up and should be
+     * used for any initialization code.
+     */
+    public void robotInit() {
+		oi = new OI();
+        // instantiate the command used for the autonomous period
+        autonomousCommand = new ExampleCommand();
+    }
+	
+	public void disabledPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+    public void autonomousInit() {
+        // schedule the autonomous command (example)
+        if (autonomousCommand != null) autonomousCommand.start();
+    }
+
+    /**
+     * This function is called periodically during autonomous
+     */
+    public void autonomousPeriodic() {
+        Scheduler.getInstance().run();
+    }
+
+    public void teleopInit() {
+		// This makes sure that the autonomous stops running when
+        // teleop starts running. If you want the autonomous to 
+        // continue until interrupted by another command, remove
+        // this line or comment it out.
+        if (autonomousCommand != null) autonomousCommand.cancel();
+    }
+
+    /**
+     * This function is called when the disabled button is hit.
+     * You can use it to reset subsystems before shutting down.
+     */
+    public void disabledInit(){
+
+    }
+
+    /**
+     * This function is called periodically during operator control
+     */
+    public void teleopPeriodic() {
+        Scheduler.getInstance().run();
+    }
+    
+    /**
+     * This function is called periodically during test mode
+     */
+    public void testPeriodic() {
+        LiveWindow.run();
+    }
+}
diff --git a/src/org/usfirst/frc/team4272/robot2015/RobotMap.java b/src/org/usfirst/frc/team4272/robot2015/RobotMap.java
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+++ b/src/org/usfirst/frc/team4272/robot2015/RobotMap.java
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+package org.usfirst.frc.team4272.robot2015;
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+    // For example to map the left and right motors, you could define the
+    // following variables to use with your drivetrain subsystem.
+    // public static int leftMotor = 1;
+    // public static int rightMotor = 2;
+    
+    // If you are using multiple modules, make sure to define both the port
+    // number and the module. For example you with a rangefinder:
+    // public static int rangefinderPort = 1;
+    // public static int rangefinderModule = 1;
+}
diff --git a/src/org/usfirst/frc/team4272/robot2015/commands/ExampleCommand.java b/src/org/usfirst/frc/team4272/robot2015/commands/ExampleCommand.java
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index 0000000..42ddd45
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+++ b/src/org/usfirst/frc/team4272/robot2015/commands/ExampleCommand.java
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+
+package org.usfirst.frc.team4272.robot2015.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import org.usfirst.frc.team4272.robot2015.Robot;
+
+/**
+ *
+ */
+public class ExampleCommand extends Command {
+
+    public ExampleCommand() {
+        // Use requires() here to declare subsystem dependencies
+        requires(Robot.exampleSubsystem);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return false;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}
diff --git a/src/org/usfirst/frc/team4272/robot2015/subsystems/ExampleSubsystem.java b/src/org/usfirst/frc/team4272/robot2015/subsystems/ExampleSubsystem.java
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+++ b/src/org/usfirst/frc/team4272/robot2015/subsystems/ExampleSubsystem.java
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+
+package org.usfirst.frc.team4272.robot2015.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class ExampleSubsystem extends Subsystem {
+    
+    // Put methods for controlling this subsystem
+    // here. Call these from Commands.
+
+    public void initDefaultCommand() {
+        // Set the default command for a subsystem here.
+        //setDefaultCommand(new MySpecialCommand());
+    }
+}
+