From 3949e64c7707b53081a60daaf8e1118ebee41ea7 Mon Sep 17 00:00:00 2001
From: Luke Shumaker <lukeshu@lukeshu.com>
Date: Fri, 7 Apr 2017 10:32:31 -0400
Subject: add compressor inhibitor

---
 src/org/usfirst/frc/team4272/robot2017/Autonomous.java | 1 +
 src/org/usfirst/frc/team4272/robot2017/Control.java    | 3 ++-
 src/org/usfirst/frc/team4272/robot2017/HwRobot.java    | 7 +++++++
 src/org/usfirst/frc/team4272/robot2017/Teleop.java     | 3 +++
 4 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 28ec580..affe49d 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -69,6 +69,7 @@ public class Autonomous {
 		Command init = c->{
 			c.lDrive = c.rDrive = 0;
 			c.highGear = c.gedOut = false;
+			c.compressorEnabled = true;
 			return true;
 		};
 
diff --git a/src/org/usfirst/frc/team4272/robot2017/Control.java b/src/org/usfirst/frc/team4272/robot2017/Control.java
index c8561c0..b32eac7 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Control.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Control.java
@@ -6,6 +6,7 @@ public class Control {
 	       rDrive = 0,
 	       climber = 0;
 	boolean highGear = false,
-		gedOut = false;
+		gedOut = false,
+		compressorEnabled = true;
 	public Control() {}
 }
diff --git a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
index 533cf9d..23e5c34 100644
--- a/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
+++ b/src/org/usfirst/frc/team4272/robot2017/HwRobot.java
@@ -29,6 +29,7 @@
  */
 package org.usfirst.frc.team4272.robot2017;
 
+import edu.wpi.first.wpilibj.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Encoder;
@@ -70,6 +71,8 @@ public class HwRobot {
 	private final DoubleSolenoid
 		shifter = new DoubleSolenoid(/*PCM*/4, /*PCM*/5),
 		ged     = new DoubleSolenoid(/*PCM*/6, /*PCM*/7);
+	private final Compressor
+		compressor = new Compressor();
 	// Sensors/info should be public ///////////////////////////////////////
 	public final Encoder   lDriveE = new Encoder(/*DIO*/0,/*DIO*/1, /*reverse*/false);
 	public final Encoder   rDriveE = new Encoder(/*DIO*/2,/*DIO*/3, /*reverse*/true);
@@ -116,6 +119,10 @@ public class HwRobot {
 			minBatt = batt;
 		SmartDashboard.putNumber("minBatt", minBatt);
 
+		if (c.compressorEnabled != compressor.getClosedLoopControl())
+			compressor.setClosedLoopControl(c.compressorEnabled);
+
+		SmartDashboard.putBoolean("compressorOn", compressor.enabled());
 		SmartDashboard.putBoolean("highGear", c.highGear);
 		SmartDashboard.putBoolean("gedOut", c.gedOut);
 	}
diff --git a/src/org/usfirst/frc/team4272/robot2017/Teleop.java b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
index 4dc3627..b55a42b 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Teleop.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Teleop.java
@@ -96,6 +96,9 @@ public class Teleop {
 		/* GED */
 		control.gedOut = oi.xbox.getTriggerAxis(Hand.kRight) > 0.5;
 
+		/* compressor */
+		control.compressorEnabled = !oi.xbox.getAButton();
+
 		return control;
 	}
 }
-- 
cgit v1.2.3