4 files changed, 39 insertions, 4 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2015/Robot.java b/src/org/usfirst/frc/team4272/robot2015/Robot.java
index 22abd30..454f226 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Robot.java
@@ -2,8 +2,10 @@
 package org.usfirst.frc.team4272.robot2015;
 
 
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import java.io.FileWriter;
 import java.io.IOException;
@@ -18,6 +20,7 @@ import java.io.PrintWriter;
 public class Robot extends IterativeRobot {
 	private final HwRobot robot = new HwRobot();
 	private final HwOI oi = new HwOI();
+	private final DriverStation ds = DriverStation.getInstance();
 	private final Control control = new Control();
 	private PrintWriter log;
 
@@ -36,6 +39,7 @@ public class Robot extends IterativeRobot {
 	private void inLog() throws IOException {
 		log = new PrintWriter(new FileWriter("/usr/local/frc/share/lukeshu.log", true));
 		log.println("\ntime"
+			+",ds:alliance,ds:voltage,ds:FMStime"
 			+",c:lDrive,c:rDrive,c:winch,c:lIntake,c:rIntake,c:grab,c:push"
 			+",i:lDrive.dist,i:lDrive.rate"
 			+",i:rDrive.dist,i:rDrive.rate"
@@ -43,7 +47,14 @@ public class Robot extends IterativeRobot {
 	}
 
 	private void doLog() throws Exception {
+		SmartDashboard.putNumber("dist", robot.rDriveE.getDistance());
+		SmartDashboard.putNumber("raw", robot.rDriveE.getRaw());
+		if (!ds.isFMSAttached())
+			return;
 		log.println(0
+			+","+ds.getAlliance()
+			+","+ds.getBatteryVoltage()
+			+","+ds.getMatchTime()
 			+","+control.lDrive
 			+","+control.rDrive
 			+","+control.winch
@@ -84,6 +95,7 @@ public class Robot extends IterativeRobot {
 	}
 
 	public void teleopInit() {
+		robot.rDriveE.reset();
 		teleop = new Teleop();
 	}
 
diff --git a/src/org/usfirst/frc/team4272/robot2015/Teleop.java b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
index 541099c..058589a 100644
--- a/src/org/usfirst/frc/team4272/robot2015/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2015/Teleop.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team4272.robot2015;
 
-import org.usfirst.frc.team4272.robotlib.Toggler;
+import org.usfirst.frc.team4272.robotlib.ToggleButton;
+import org.usfirst.frc.team4272.robotlib.PushButton;
 import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
 import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
 
@@ -8,8 +9,9 @@ import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Relay;
 
 public class Teleop {
-	private Toggler grabButton = new Toggler();
-	private Toggler pushButton = new Toggler();
+	private ToggleButton grabButton = new ToggleButton();
+	private ToggleButton pushButton = new ToggleButton();
+	private PushButton camButton = new PushButton();
 
 	public Teleop() {
 	}
@@ -48,6 +50,14 @@ public class Teleop {
 
 		control.grab = grabButton.update(oi.xbox.getButton(Button.A));
 		control.push = pushButton.update(oi.xbox.getButton(Button.B));
+		
+		if (camButton.update(oi.xbox.getButton(Button.RT))) {
+			try {
+				ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");
+				pb.redirectErrorStream(true);
+				pb.start();
+			} catch (Exception e) {};
+		}
 
 		return control;
 	}
diff --git a/src/org/usfirst/frc/team4272/robotlib/PushButton.java b/src/org/usfirst/frc/team4272/robotlib/PushButton.java
new file mode 100644
index 0000000..d14c5d3
--- /dev/null
+++ b/src/org/usfirst/frc/team4272/robotlib/PushButton.java
@@ -0,0 +1,13 @@
+package org.usfirst.frc.team4272.robotlib;
+
+public class PushButton {
+	private boolean prev = false;
+	public boolean update(boolean next) {
+		boolean ret = false;
+		if (next && ! prev) {
+			ret = true;
+		}
+		prev = next;
+		return ret;
+	}
+}
diff --git a/src/org/usfirst/frc/team4272/robotlib/Toggler.java b/src/org/usfirst/frc/team4272/robotlib/ToggleButton.java
index 03fffec..1b70ad8 100644
--- a/src/org/usfirst/frc/team4272/robotlib/Toggler.java
+++ b/src/org/usfirst/frc/team4272/robotlib/ToggleButton.java
@@ -1,6 +1,6 @@
 package org.usfirst.frc.team4272.robotlib;
 
-public class Toggler {
+public class ToggleButton {
 	private boolean prev = false;
 	private boolean state = false;
 	public boolean update(boolean next) {