Frc1646 launch blue ball

src/org/usfirst/frc/team1646/robot/commands/DisableDSolenoids.java

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+package org.usfirst.frc.team1646.robot.commands;
+
+import org.usfirst.frc.team1646.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class DisableDSolenoids extends Command {
+
+    public DisableDSolenoids() {
+    	requires(Robot.ballCollector);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	Robot.ballCollector.neitherChannelEnabled();
+    }
+
+    // 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 true;
+    }
+
+    // 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() {
+    }
+}

src/org/usfirst/frc/team1646/robot/commands/DriveWithSticks.java

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+package org.usfirst.frc.team1646.robot.commands;
+
+import org.usfirst.frc.team1646.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class DriveWithSticks extends Command {
+
+	private double maxPower = 0;
+
+    public DriveWithSticks() {
+    	requires(Robot.driveSubsystem);
+    }
+
+    protected void initialize() {
+    }
+
+    protected void execute() {
+
+    	double left = Robot.oi.leftStick.getY();
+		double right = Robot.oi.rightStick.getY();
+
+		boolean leftTrigger = Robot.oi.leftStick.getRawButton(1);
+		boolean rightTrigger = Robot.oi.rightStick.getRawButton(1);
+
+		if (leftTrigger || rightTrigger) {
+			maxPower = 1;
+			Robot.driveSubsystem.tankDrive(maxPower * left, maxPower * right);
+		} else {
+			maxPower = 0.5;
+			Robot.driveSubsystem.tankDrive(maxPower * left, maxPower * right);
+		}
+    }
+
+    // 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() {
+    }
+}

src/org/usfirst/frc/team1646/robot/commands/PlaceBall.java

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+package org.usfirst.frc.team1646.robot.commands;
+
+import org.usfirst.frc.team1646.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class PlaceBall extends Command {
+
+    public PlaceBall() {
+    	requires(Robot.ballCollector);
+    }
+
+    protected void initialize() {
+    	Robot.ballCollector.moveToOriginalS();
+    	//Robot.ballCollector.moveToOriginalD();
+    }
+
+    // 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 true;
+    }
+
+    // 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() {
+    }
+}

src/org/usfirst/frc/team1646/robot/commands/ReachBall.java

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+package org.usfirst.frc.team1646.robot.commands;
+
+
+import org.usfirst.frc.team1646.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ReachBall extends Command {
+
+    public ReachBall() {
+    	requires(Robot.ballCollector);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    	Robot.ballCollector.moveToCollectS();
+    	//Robot.ballCollector.moveToCollectD();
+    }
+
+    // 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 true;
+    }
+
+    // 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() {
+    }
+}

src/org/usfirst/frc/team1646/robot/subsystems/BallCollector.java

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+package org.usfirst.frc.team1646.robot.subsystems;
+
+import org.usfirst.frc.team1646.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class BallCollector extends Subsystem {
+
+	//FIXME is it a single solenoid or double? 
+	private Solenoid intakeBall;
+	private Talon keepBall;
+
+	private DoubleSolenoid collectBall;
+
+	public static boolean extend = false;
+	public static boolean retract = true;
+
+	public BallCollector() {
+		intakeBall = new Solenoid(RobotMap.intakeBall);
+		keepBall = new Talon(RobotMap.keepBall);
+
+		//Don't know what the forward channel (1st) and a reverse channel (2nd) will be
+		collectBall = new DoubleSolenoid( , );
+	}
+
+	public Solenoid getIntakeBall() {
+		return intakeBall;
+	}
+
+	public Talon getKeepBall() {
+		return keepBall;
+	}
+
+	public DoubleSolenoid getCollectBall() {
+		return collectBall;
+	}
+
+	public void spinWheels() {
+		keepBall.set(0.5);
+	}
+
+	// false = extend; true = retract
+	// S = Single Solenoid; D = Double Solenoid
+	public void moveToCollectS() {
+		intakeBall.set(extend);
+		spinWheels();
+	}
+
+	public void moveToOriginalS() {
+		intakeBall.set(retract);
+		spinWheels();
+	}
+
+	public void moveToCollectD() {
+		collectBall.set(DoubleSolenoid.Value.kForward);
+	}
+
+	public void moveToOriginalD() {
+		collectBall.set(DoubleSolenoid.Value.kReverse);
+	}
+
+	public void neitherChannelEnabled() {
+		collectBall.set(DoubleSolenoid.Value.kOff);
+	}
+
+
+	@Override
+	protected void initDefaultCommand() {
+		// TODO Auto-generated method stub
+
+	}
+
+}

src/org/usfirst/frc/team1646/robot/subsystems/ClawController.java

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+package org.usfirst.frc.team1646.robot.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class ClawController extends Subsystem {
+
+	public ClawController() {
+
+	}
+
+	@Override
+	protected void initDefaultCommand() {
+		// TODO Auto-generated method stub
+
+	}
+
+}

src/org/usfirst/frc/team1646/robot/subsystems/DriveSubsystem.java

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+package org.usfirst.frc.team1646.robot.subsystems;
+
+import org.usfirst.frc.team1646.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class DriveSubsystem extends Subsystem {
+
+	private Talon frontLeft;
+	private Talon backLeft;
+	private Talon frontRight;
+	private Talon backRight;
+
+	public DriveSubsystem() {
+		frontLeft = new Talon(RobotMap.driveFrontLeft);
+		backLeft = new Talon(RobotMap.driveBackLeft);
+		frontRight = new Talon(RobotMap.driveFrontRight);
+		backRight = new Talon(RobotMap.driveBackRight);	
+	}
+
+	public Talon getFrontLeft() {
+		return frontLeft;
+	}
+
+	public Talon getBackLeft() {
+		return backLeft;
+	}
+
+	public Talon getFrontRight() {
+		return frontRight;
+	}
+
+	public Talon getBackRight() {
+		return backRight;
+	}
+
+	//FIXME the directions might be the opposite
+	public void rightPower(double right) {
+		frontRight.set(right);
+		backRight.set(right);
+	}
+
+	public void leftPower(double left) {
+		frontLeft.set(left);
+		backLeft.set(left);
+	}
+
+	public void tankDrive(double left, double right) {
+
+		frontLeft.set(left);
+		backLeft.set(left);
+
+		frontRight.set(right);
+		backRight.set(right);
+	}
+	//FIXME the directions might be the opposite
+
+	@Override
+	protected void initDefaultCommand() {
+		// TODO Auto-generated method stub		
+	}
+}

src/org/usfirst/frc/team1646/robot/subsystems/ShootingSubsystem.java

@@ -0,0 +1,16 @@
+package org.usfirst.frc.team1646.robot.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class ShootingSubsystem extends Subsystem {
+
+	public ShootingSubsystem() {
+
+	}
+
+	@Override
+	protected void initDefaultCommand() {
+		// TODO Auto-generated method stub
+
+	}
+}