Drivetrain code

src/com/nutrons/nu17/OperatorInterface.java

@@ -22,6 +22,10 @@ public class OperatorInterface {
   private final Button intakeSpit = new JoystickButton(OPERATOR_PAD, RobotMap.JOYSTICK_B);
   private final Button raisePlacer = new JoystickButton(OPERATOR_PAD, RobotMap.JOYSTICK_Y);
   private final Button lowerPlacer = new JoystickButton(OPERATOR_PAD, RobotMap.JOYSTICK_X);
+  private final Button getSlowDrivingMode =
+      new JoystickButton(DRIVER_PAD, RobotMap.JOYSTICK_LEFT_TRIGGER);
+  private final Button holdHeadingMode =
+      new JoystickButton(DRIVER_PAD, RobotMap.JOYSTICK_RIGHT_TRIGGER);
 
   public static final Joystick DRIVER_PAD = new Joystick(RobotMap.JOYSTICK1);
   public static final Joystick OPERATOR_PAD = new Joystick(RobotMap.JOYSTICK2);
@@ -37,6 +41,22 @@ public OperatorInterface() {
     this.intakeSpit.whenPressed(new GroundIntakeSpitCmd());
   }
 
+  /**
+   * 
+   * @return Will return true if button is being held, false if not.
+   */
+  public boolean getHoldHeadingMode() {
+    return this.holdHeadingMode.get();
+  }
+
+  /**
+   * 
+   * @return Will return true if button is being held, false if not.
+   */
+  public boolean getSlowDrivingMode() {
+    return this.getSlowDrivingMode.get();
+  }
+
   /**
    * @return driver's left joystick y value.
    */

src/com/nutrons/nu17/Robot.java

@@ -5,15 +5,13 @@
 import com.nutrons.nu17.subsystems.GearPlacer;
 import com.nutrons.nu17.subsystems.GroundIntake;
 import com.nutrons.nu17.subsystems.Shooter;
-import com.nutrons.nu17.subsystems.TwinShooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 public class Robot extends IterativeRobot {
 
-  public static final TwinShooter TWIN_SHOOTER = new TwinShooter();
   public static final Shooter SHOOTER = new Shooter();
   public static final GroundIntake GROUND_INTAKE = new GroundIntake();
   public static final GearPlacer GP = new GearPlacer();

src/com/nutrons/nu17/RobotMap.java

@@ -4,10 +4,10 @@ public class RobotMap {
 
   // Ports of wheels
   public static final int FRONT_LEFT = 0;
-  public static final int BACK_LEFT = 1;
-  public static final int FRONT_RIGHT = 2;
-  public static final int BACK_RIGHT = 3;
-  // Paramter naming convention : Subsystem SIDE_PLACEMENT
+  public static final int BACK_LEFT = 0;
+  public static final int FRONT_RIGHT = 0;
+  public static final int BACK_RIGHT = 0;
+
   // Ports of intake
   public static final int ROLLER_FRONT = 0;
   public static final int ROLLER_BACK = 0;
@@ -18,7 +18,7 @@ public class RobotMap {
 
   // Ports of Ultrasonics
   public static final int ULTRASONIC_RX = 0;
-  public static final int ULTRASONIC_TX = 1;
+  public static final int ULTRASONIC_TX = 0;
 
   // Port of gyro
   public static final int DRIVETRAIN_HEADING_GYRO = 0;
@@ -36,32 +36,40 @@ public class RobotMap {
   public static final int CLIMBER_MICRO_SWITCH = 0;
 
   // Ports of encoders
-  public static final int LEFT_WHEEL_DRIVE_DISTANCE_ENCODER_1 = 1;
-  public static final int LEFT_WHEEL_DRIVE_DISTANCE_ENCODER_2 = 2;
-  public static final int RIGHT_WHEEL_DRIVE_DISTANCE_ENCODER_1 = 1;
-  public static final int RIGHT_WHEEL_DRIVE_DISTANCE_ENCODER_2 = 2;
-  public static final int FLY_ENCODER_FRONT_RIGHT = 5;
-  public static final int FLY_ENCODER_BACK_RIGHT = 6;
-  public static final int FLY_ENCODER_FRONT_LEFT = 7;
-  public static final int FLY_ENCODER_BACK_LEFT = 8;
-  public static final int TWIN_LEFT_ENCODER_1 = 9;
-  public static final int TWIN_LEFT_ENCODER_2 = 10;
-  public static final int TWIN_RIGHT_ENCODER_1 = 11;
-  public static final int TWIN_RIGHT_ENCODER_2 = 12;
+  public static final int LEFT_WHEEL_DRIVE_DISTANCE_ENCODER_1 = 0;
+  public static final int LEFT_WHEEL_DRIVE_DISTANCE_ENCODER_2 = 0;
+  public static final int RIGHT_WHEEL_DRIVE_DISTANCE_ENCODER_1 = 0;
+  public static final int RIGHT_WHEEL_DRIVE_DISTANCE_ENCODER_2 = 0;
+  public static final int FLY_ENCODER_FRONT_RIGHT = 0;
+  public static final int FLY_ENCODER_BACK_RIGHT = 0;
+  public static final int FLY_ENCODER_FRONT_LEFT = 0;
+  public static final int FLY_ENCODER_BACK_LEFT = 0;
+  public static final int TWIN_LEFT_ENCODER_1 = 0;
+  public static final int TWIN_LEFT_ENCODER_2 = 0;
+  public static final int TWIN_RIGHT_ENCODER_1 = 0;
+  public static final int TWIN_RIGHT_ENCODER_2 = 0;
   public static final int SHOOT_ENCODER_1 = 0;
-  public static final int SHOOT_ENCODER_2 = 1;
+  public static final int SHOOT_ENCODER_2 = 0;
 
 
   // Port of joysticks
   public static final int JOYSTICK1 = 0;
-  public static final int JOYSTICK2 = 1;
+  public static final int JOYSTICK2 = 0;
 
   // Buttons
+  // TODO: Needs tune testing
   public static final int JOYSTICK_A = 0;
-  public static final int JOYSTICK_B = 1;
-  public static final int JOYSTICK_X = 2;
-  public static final int JOYSTICK_Y = 3;
-  public static final int JOYSTICK_LEFT_BUMPER = 4;
+  public static final int JOYSTICK_B = 0;
+  public static final int JOYSTICK_X = 0;
+  public static final int JOYSTICK_Y = 0;
+  public static final int JOYSTICK_LEFT_BUMPER = 0;
+  public static final int JOYSTICK_LEFT_TRIGGER = 0;
+  public static final int JOYSTICK_RIGHT_BUMPER = 0;
+  public static final int JOYSTICK_RIGHT_TRIGGER = 0;
+  public static final int JOYSTICK_DPAD_UP = 0;
+  public static final int JOYSTICK_DPAD_DOWN = 0;
+  public static final int JOYSTICK_DPAD_LEFT = 0;
+  public static final int JOYSTICK_DPAD_RIGHT = 0;
 
   // TODO tune this constant for deadband
   public static final double JOYSTICK_DEADBAND = 0.05;

src/com/nutrons/nu17/commands/DriveCheesyCmd.java

@@ -0,0 +1,35 @@
+package com.nutrons.nu17.commands;
+
+import com.nutrons.nu17.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * Command for CheesyDrive drive type.
+ */
+public class DriveCheesyCmd extends Command {
+
+  public DriveCheesyCmd() {
+    requires(Robot.DRIVETRAIN);
+  }
+
+  protected void initialize() {
+    Robot.DRIVETRAIN.driveCheesy(Robot.OperatorInterface.getLeftJoystickY(),
+        Robot.OperatorInterface.getRightJoystickX(), Robot.OperatorInterface.getHoldHeadingMode());
+  }
+
+
+  protected void execute() {
+
+  }
+
+  protected boolean isFinished() {
+    return false;
+  }
+
+
+  protected void end() {}
+
+
+  protected void interrupted() {}
+}