Added GearPlacerServo subsystem and added some Javadocs.

src/com/nutrons/nu17/RobotMap.java

@@ -2,40 +2,22 @@
 
 public class RobotMap {
 
-	// Ports of wheels
 	public static final int FRONT_LEFT = 0;
 	public static final int FRONT_RIGHT = 1;
 	public static final int BACK_LEFT = 2;
 	public static final int BACK_RIGHT = 3;
-
-	// Ports of intake
 	public static final int ROLLER_A = 0;
 	public static final int ROLLER_B = 0;
-
-	// Ports of fly wheels
 	public static final int FLY_WHEEL_R = 0;
 	public static final int FLY_WHEEL_L = 0;
-
-	// Ports of Ultrasonics
 	public static final int ULTRASONIC_RX = 0;
 	public static final int ULTRASONIC_TX = 1;
-
-	// Port of gyro
 	public static final int GYRO = 0;
-
-	// Port of gear placer
-	public static final int PLACER = 0;
-
-	// Port of shooter
+	public static final int GEAR_PLACER = 0;
+	public static final int GEAR_PLACER_SERVO = 0;
 	public static final int SHOOTER = 0;
-
-	// Port of climber
 	public static final int CLIMBER = 0;
-
-	// Port of micro switch
 	public static final int MICRO_SWITCH = 0;
-
-	// Ports of encoders
 	public static final int DT_ENCODER_1 = 1;
 	public static final int DT_ENCODER_2 = 2;
 	public static final int DT_ENCODER_3 = 3;
@@ -50,8 +32,6 @@ public class RobotMap {
 	public static final int TWIN_ENCODER_4 = 12;
 	public static final int SHOOT_ENCODER_1 = 0;
 	public static final int SHOOT_ENCODER_2 = 1;
-
-	// Port of joysticks
 	public static final int JOYSTICK1 = 0;
 	public static final int JOYSTICK2 = 1;
 

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

@@ -5,7 +5,7 @@
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * 
+ * Lowers the gear placer to safely drive.
  */
 public class LowerGearPlacerCmd extends Command {
 
@@ -23,7 +23,10 @@ protected void initialize() {
     protected void execute() {
     	//empty
     }
-    // Finished when the placer is at the lowest position
+
+    /**
+     * Finished once the gear placer is at the lowest position.
+     */
     protected boolean isFinished() {
         return Robot.GP.getPosition() == 0;
     }

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

@@ -5,7 +5,7 @@
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
- * 
+ * Lifts the gear placer to interact with a gear.
  */
 public class RaiseGearPlacerCmd extends Command {
 
@@ -16,7 +16,7 @@ public RaiseGearPlacerCmd() {
     }
 
     /**
-     * Lowers the gear placer.
+     * Raises the gear placer.
      */
     protected void initialize() {
     	Robot.GP.set(this.PLACER_MAX_POSITION);
@@ -25,7 +25,10 @@ protected void initialize() {
     protected void execute() {
     	//empty
     }
-    // Finishes when the placer is at the highest position
+
+    /**
+     * Raises the gear placer to the highest position.
+     */
     protected boolean isFinished() {
         return Robot.GP.getPosition() == this.PLACER_MAX_POSITION;
     }

src/com/nutrons/nu17/subsystems/GearPlacer.java

@@ -6,9 +6,12 @@
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
+/**
+ * Class of a single arm that will interact with the gears.
+ */
 public class GearPlacer extends Subsystem {
 
-	private final Talon PLACER = new Talon(RobotMap.PLACER);
+	private final Talon PLACER = new Talon(RobotMap.GEAR_PLACER);
 
 	public void initDefaultCommand() {
 		//empty

src/com/nutrons/nu17/subsystems/GearPlacerServo.java

@@ -0,0 +1,41 @@
+package com.nutrons.nu17.subsystems;
+
+import com.nutrons.nu17.RobotMap;
+
+import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * Similar to {@link GearPlacer} class but uses a servo instead.
+ */
+public class GearPlacerServo extends Subsystem {
+
+	private final Servo PLACER = new Servo(RobotMap.GEAR_PLACER_SERVO);
+
+	public void initDefaultCommand() {
+		//empty
+	}
+
+	/**
+	 * Sets the gear placer to a position.
+	 * 
+	 * @param position Where the gear placer will be set to.
+	 */
+	public void setPosition(double position) {
+		PLACER.set(position);
+	}
+
+	/**
+	 * Returns the current position of the gear placer.
+	 * 
+	 * @return Gives us where the gear placer is at this moment.
+	 */
+	public double getPosition() {
+		return PLACER.get();
+	}
+
+	public void stop() {
+		this.setPosition(this.getPosition());
+	}
+}
+