new robot

4 files changed, 17 insertions, 57 deletions

diff --git a/src/org/usfirst/frc/team4272/robot2016/Control.java b/src/org/usfirst/frc/team4272/robot2016/Control.java
index 490269b..b136e0c 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Control.java
@@ -1,15 +1,9 @@
 package org.usfirst.frc.team4272.robot2016;
 
-import edu.wpi.first.wpilibj.Relay;
-
 public class Control {
-	double lDrive, rDrive, winch;
-	Relay.Value lIntake, rIntake;
-	boolean grab, push;
+	double lDrive, rDrive, fBall, bBall;
 
 	public Control() {
-		lDrive = rDrive = winch = 0;
-		grab = push = false;
-		lIntake = rIntake = Relay.Value.kOff;
+		lDrive = rDrive = fBall = bBall = 0;
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
index 9b3e4e1..da4c1b4 100644
--- a/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/HwRobot.java
@@ -1,14 +1,10 @@
 package org.usfirst.frc.team4272.robot2016;
 
 import org.mckenzierobotics.lib.robot.PIDOutputSplitter;
-import org.usfirst.frc.team4272.robotlib.DoubleSolenoid;
-import org.usfirst.frc.team4272.robotlib.LimitSwitchedPIDOutput;
 
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDOutput;
 import edu.wpi.first.wpilibj.PIDSourceType;
-import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Talon;
 
 public class HwRobot {
@@ -29,37 +25,26 @@ public class HwRobot {
 	 * And, for communication: USB-B and Ethernet.
 	 */
 
+	// naming convention: {side_letter}{Thing}{E|M (encoder/motor)}
+
 	public Encoder   lDriveE = new Encoder(/*DIO*/2,/*DIO*/3);
 	private PIDOutput lDriveM = new PIDOutputSplitter(new Talon(/*PWM*/0),
 	                                                 new Talon(/*PWM*/1));
 	public Encoder   rDriveE = new Encoder(/*DIO*/0,/*DIO*/1, true);
 	private PIDOutput rDriveM = new PIDOutputSplitter(new Talon(/*PWM*/2),
 	                                                 new Talon(/*PWM*/3));
-	public Encoder   winchE = new Encoder(/*DIO*/4,/*DIO*/5);//),
-	private static DigitalInput winchT = new DigitalInput(/*DIO*/6);
-	private static DigitalInput winchB = new DigitalInput(/*DIO*/7);
-	private PIDOutput winchM = new LimitSwitchedPIDOutput(
-		new PIDOutputSplitter(new Talon(/*PWM*/4),
-		                      new Talon(/*PWM*/5)),
-		winchT, false, winchB, false);
-	private DoubleSolenoid grab = new DoubleSolenoid(/*PCM*/2,/*PCM*/3);
-	private DoubleSolenoid push = new DoubleSolenoid(/*PCM*/0,/*PCM*/1);
-	private Relay lIntake = new Relay(/*Relay*/1, Relay.Direction.kBoth);
-	private Relay rIntake = new Relay(/*Relay*/0, Relay.Direction.kBoth);
+	private PIDOutput fBallM = new PIDOutputSplitter(new Talon(/*PWM*/4), new Talon(/*PWM*/5));
+	private PIDOutput bBallM = new PIDOutputSplitter(new Talon(/*PWM*/6), new Talon(/*PWM*/7));
 
 	public HwRobot() {
 		lDriveE.setPIDSourceType(PIDSourceType.kRate);
 		rDriveE.setPIDSourceType(PIDSourceType.kRate);
-		winchE.setPIDSourceType(PIDSourceType.kRate);
 	}
 
 	public void run(Control c) {
 		lDriveM.pidWrite( c.lDrive);
 		rDriveM.pidWrite(-c.rDrive);
-		winchM.pidWrite(-c.winch);
-		lIntake.set(c.lIntake);
-		rIntake.set(c.rIntake);
-		grab.setForward(c.grab);
-		push.setForward(!c.push);
+		fBallM.pidWrite(c.fBall);
+		bBallM.pidWrite(c.bBall);
 	}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2016/Robot.java b/src/org/usfirst/frc/team4272/robot2016/Robot.java
index 0c2a98e..c9ad4c5 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Robot.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Robot.java
@@ -1,8 +1,6 @@
 
 package org.usfirst.frc.team4272.robot2016;
 
-
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
 
 /**
@@ -15,7 +13,6 @@ import edu.wpi.first.wpilibj.IterativeRobot;
 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 Autonomous auto;
diff --git a/src/org/usfirst/frc/team4272/robot2016/Teleop.java b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
index be88308..aadbc58 100644
--- a/src/org/usfirst/frc/team4272/robot2016/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2016/Teleop.java
@@ -6,11 +6,8 @@ import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Axis;
 import org.usfirst.frc.team4272.robotlib.Xbox360Controller.Button;
 
 import edu.wpi.first.wpilibj.Joystick;
-import edu.wpi.first.wpilibj.Relay;
 
 public class Teleop {
-	private ToggleButton grabButton = new ToggleButton();
-	private ToggleButton pushButton = new ToggleButton();
 	private PushButton camButton = new PushButton();
 
 	public Teleop() {
@@ -26,31 +23,18 @@ public class Teleop {
 		/* Drive */
 		control.lDrive = jsScale(oi.lStick);
 		control.rDrive = jsScale(oi.rStick);
-		/* Winch */
-		control.winch = oi.xbox.getAxis(Axis.LY ) * -1;/* up is neg, down is pos */
-		if (Math.abs(control.winch) < 0.1) { control.winch = 0; }
 
-		/* left intake */
-		if (oi.xbox.getButton(Button.LB)) {
-			control.lIntake = Relay.Value.kReverse;
-		} else if (oi.xbox.getAxis(Axis.LT) > 0.75) {
-			control.lIntake = Relay.Value.kForward;
-		} else {
-			control.lIntake = Relay.Value.kOff;
+		/* Ball intake/shooter */
+		if (oi.lStick.getTrigger()) {
+			control.fBall = control.bBall = -1;
+		} else if (oi.rStick.getTrigger()) {
+			control.fBall = 1;
+			if (oi.rStick.getRawButton(3)) {
+				control.bBall = 1;
+			}
 		}
 
-		/* right intake */
-		if (oi.xbox.getButton(Button.RB)) {
-			control.rIntake=(Relay.Value.kReverse);
-		} else if (oi.xbox.getAxis(Axis.RT) > 0.75) {
-			control.rIntake=(Relay.Value.kForward);
-		} else {
-			control.rIntake=(Relay.Value.kOff);
-		}
-
-		control.grab = grabButton.update(oi.xbox.getButton(Button.A));
-		control.push = pushButton.update(oi.xbox.getButton(Button.B));
-
+		/* Take pictures */
 		if (camButton.update(oi.xbox.getButton(Button.RT))) {
 			try {
 				ProcessBuilder pb = new ProcessBuilder("/home/lvuser/tweeterbot/bin/snapPhoto");