Chief Delphi - No Code in Driver Station!

Robot.java:

Code:

package org.usfirst.frc.team3871.Trojans2015.robot;

import org.usfirst.frc.team3871.Trojans2015.commands.Autonomous;

import org.usfirst.frc.team3871.Trojans2015.robot.IO;

import org.usfirst.frc.team3871.Trojans2015.subsystems.DriveTrain;

import org.usfirst.frc.team3871.Trojans2015.subsystems.NoodleAndToteSystems;

import edu.wpi.first.wpilibj.IterativeRobot;

import edu.wpi.first.wpilibj.command.Scheduler;

import edu.wpi.first.wpilibj.livewindow.LiveWindow;



/**

* The VM is configured to automatically run this class, and to call the

* functions corresponding to each mode, as described in the IterativeRobot

* documentation. If you change the name of this class or the package after

* creating this project, you must also update the manifest file in the resource

* directory.

*/

public class Robot extends IterativeRobot {

 public static Object NoodleAndToteSystem;

 public static Autonomous Autonomous;

 public static IO io;

 public static DriveTrain driveTrain;

 public static NoodleAndToteSystems noodleAndToteSystems;

/**

  * This function is run when the robot is first started up and should be

  * used for any initialization code.

 * @param Autonomous 

  */

 public void robotInit(Autonomous Autonomous) {

        RobotMap.init();

     driveTrain = new DriveTrain();

     noodleAndToteSystems = new NoodleAndToteSystems();

     // This MUST be here. If the OI creates Commands (which it very likely

     // will), constructing it during the construction of CommandBase (from

     // which commands extend), subsystems are not guaranteed to be

     // yet. Thus, their requires() statements may grab null pointers. Bad

     // news. Don't move it.

     io = new IO();

     // instantiate the command used for the autonomous period

     Autonomous = new Autonomous();

 }

 public void autonomousInit() {

     // schedule the autonomous command (example)

     if (Autonomous!= null) Autonomous.start();

 }

/**

  * This function is called periodically during autonomous

  */

 public void autonomousPeriodic() {

     Scheduler.getInstance().run();

 }



 public void teleopInit() {

        // This makes sure that the autonomous stops running when

     // teleop starts running. If you want the autonomous to 

     // continue until interrupted by another command, remove

     // this line or comment it out.

        if (Autonomous != null) Autonomous.cancel();

 }



 /**

  * This function is called periodically during operator control

  */

 public void teleopPeriodic() {

     Scheduler.getInstance().run();

 }



 /**

  * This function called periodically during test mode

  */

 public void testPeriodic() {

     LiveWindow.run();

 }

}

IO.java

Code:

package org.usfirst.frc.team3871.Trojans2015.robot;

//import org.usfirst.frc3871.Trojans3.commands.*;



import org.usfirst.frc.team3871.Trojans2015.commands.Autonomous;

import org.usfirst.frc.team3871.Trojans2015.commands.NoodleBottomSystem;



import edu.wpi.first.wpilibj.DigitalInput;

import edu.wpi.first.wpilibj.Joystick;

import edu.wpi.first.wpilibj.Sendable;

import edu.wpi.first.wpilibj.buttons.JoystickButton;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

//import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

//import edu.wpi.first.wpilibj.*;

//import edu.wpi.first.wpilibj.Joystick;

//import edu.wpi.first.wpilibj.buttons.*;

/**

* This class is the glue that binds the controls on the physical operator

* interface to the commands and command groups that allow control of the robot.

* @param <Joystick>

* @param <JoystickButton>

 * @param <limitSwitch>

*/

public class IO {

         //// CREATING BUTTONS

         // One type of button is a joystick button which is any button on a joystick.

         // You create one by telling it which joystick it's on and which button

         // number it is.

         // Joystick stick = new Joystick(port);

         // Button button = new JoystickButton(stick, buttonNumber);

         

         // Another type of button you can create is a DigitalIOButton, which is

         // a button or switch hooked up to the cypress module. These are useful if

         // you want to build a customized operator interface.

         // Button button = new DigitalIOButton(1);

         

         // There are a few additional built in buttons you can use. Additionally,

         // by subclassing Button you can create custom triggers and bind those to

         // commands the same as any other Button.

         

         //// TRIGGERING COMMANDS WITH BUTTONS

         // Once you have a button, it's trivial to bind it to a button in one of

         // three ways:

         

         // Start the command when the button is pressed and let it run the command

         // until it is finished as determined by it's isFinished method.

         // button.whenPressed(new ExampleCommand());

         

         // Run the command while the button is being held down and interrupt it once

         // the button is released.

         // button.whileHeld(new ExampleCommand());

         

         // Start the command when the button is released  and let it run the command

         // until it is finished as determined by it's isFinished method.

         // button.whenReleased(new ExampleCommand());

        

         public Joystick rightJoystick;

         public JoystickButton NoodleBottomMotorsOn;

         public JoystickButton NoodleTopMotorsOn;  

         public Joystick ArmUpDown;

         public Joystick leftJoystick;

         public DigitalInput limitSwitch1;

         public DigitalInput limitSwitch2;

         public DigitalInput limitSwitch3;

         public DigitalInput limitSwitch4;

        

         public IO() {

             rightJoystick = new Joystick(1);

             leftJoystick = new Joystick(2);

             NoodleBottomMotorsOn = new JoystickButton(rightJoystick, 3);

             NoodleBottomMotorsOn.whileHeld(new NoodleBottomSystem());

             NoodleTopMotorsOn = new JoystickButton(rightJoystick, 2);

             ArmUpDown = new Joystick(1);

             limitSwitch1 = new DigitalInput(1);

             limitSwitch2 = new DigitalInput(2);

             limitSwitch3 = new DigitalInput(3);

             limitSwitch4 = new DigitalInput(4);

             

             // SmartDashboard Buttons

             SmartDashboard.putData("Autonomous", (Sendable) new Autonomous());

             SmartDashboard.putData("Drive With Joysticks", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.DriveWithJoysticks());

             SmartDashboard.putData("Noodle Bottom Motors On", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.NoodleBottomSystem());

             SmartDashboard.putData("Noodle Top Motors On", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.NoodleTopSystem());

             SmartDashboard.putData("Arm Up", (Sendable) new org.usfirst.frc.team3871.Trojans2015.commands.ArmUp());

         }

         public Joystick getrightJoystick() {

                return rightJoystick;

         }      

         /**

          *

          * @return

          */

         public Joystick getleftJoystick() {

             return leftJoystick;

         }

 }

RobotMap.java

Code:

package org.usfirst.frc.team3871.Trojans2015.robot;

    

import edu.wpi.first.wpilibj.*;

import edu.wpi.first.wpilibj.livewindow.LiveWindow;



/**

 * The RobotMap is a mapping from the ports sensors and actuators are wired into

 * to a variable name. This provides flexibility changing wiring, makes checking

 * the wiring easier and significantly reduces the number of magic numbers

 * floating around.

 */

public class RobotMap {

    public static SpeedController driveTrainFrontRightMotor;

    public static SpeedController driveTrainFrontLeftMotor;

    public static RobotDrive driveTrainRobotDrive41;

    public static SpeedController toteLiftSystemArmMotor;

    public static SpeedController noodleWheel1SystemMotor;

    public static SpeedController noodleWheel2SystemMotor;

    public static SpeedController noodleWheel3SystemMotor;

    public static RobotDrive noodleBottomSystemMotor;

    public static RobotDrive noodleTopSystemMotor;

    public static SpeedController ArmMotor;



    public static void init() {

        driveTrainFrontRightMotor = new Talon(1);

        LiveWindow.addActuator("Drive Train", "Front Right Motor", (Talon) driveTrainFrontRightMotor);

        driveTrainFrontLeftMotor = new Talon(2);

        LiveWindow.addActuator("Drive Train", "Front Left Motor", (Talon) driveTrainFrontLeftMotor);

        noodleWheel1SystemMotor = new Talon(3);

        LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 1 System", (Talon) noodleWheel1SystemMotor);

        noodleWheel2SystemMotor = new Jaguar(4);

        LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 2 System", (Jaguar) noodleWheel2SystemMotor);

        noodleWheel3SystemMotor = new Jaguar(5);

        LiveWindow.addActuator("NoodleAndToteSystem", "Wheel 3 System", (Jaguar) noodleWheel3SystemMotor);

        ArmMotor = new Talon(6);

        LiveWindow.addActuator("NoodleAndToteSystem", "Tote Lift System", (Talon) ArmMotor);

        

        driveTrainRobotDrive41 = new RobotDrive(driveTrainFrontLeftMotor,

              driveTrainFrontRightMotor);

        

        driveTrainRobotDrive41.setSafetyEnabled(true);

        driveTrainRobotDrive41.setExpiration(0.1);

        driveTrainRobotDrive41.setSensitivity(0.5);

        driveTrainRobotDrive41.setMaxOutput(1.0);

    }

}

Build Properties
# Project specific information
package=org.usfirst.frc.team3871.robot
robot.class=${package}.Robot
simula/worlds/Geation.world.file=/usr/share/frcsimrsBotDemo.world