[2185Bilal]

Hello with the help of Youtube and CD I was finally able to make my first java program for the robot.

Here it is:

The main class:

// ***************** THIS CODE WAS WRITTEN BY BILAL MAJEED ***************** //   

package bilal.robotics.code;

// ***************** TO BE USED COMPONENTS ***************** //
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;

public class Team2185Main extends IterativeRobot {
    
    Jaguar leftMotor1 = new Jaguar(1);  // define the 1st left motor 
    Jaguar leftMotor2 = new Jaguar(2);  // define the 2nd left motor
    
    Jaguar rightMotor1 = new Jaguar(3); // define the 1st right motor 
    Jaguar rightMotor2 = new Jaguar(4); // define the 2nd right motor 
    
        
    RobotDrive drive = new RobotDrive (leftMotor1, leftMotor2, rightMotor1, rightMotor2);   // define the robot drive system
    
    Joystick controller = new Joystick(1);  // define the joystick as controller 
    final int buttonA = 1;                  // define button 1 as buttonA
    
    Shooter shooter;
    
    
// ***************** INITIALIZATION CODE ***************** //    
    public void robotInit() 
    {
        shooter = new Shooter(); // call the shooter class
    }
    
        
// ***************** AUTONOMOUS METHODS ***************** //  
    public void autonomousInit() 
    {
        for(int i=0; i<4; i++){
            drive.drive(0.5,0.0);    // drive forward at 1/2 speed
            Timer.delay(2.0);        // wait 2 sec
            drive.drive(0.0, 0.75);  // drive with 0% speed and 75% turn
            Timer.delay(0.75);       // wait for the 90 degree turn to complete
        }
        drive.drive(0.0,0.0); 
        
        
            
                  
    }

    public void autonomousPeriodic()
    {
        
    }
    
    public void autonomousContinuous()
    {
        
    }
    
        
// ***************** TELOP METHODS ***************** //    
    public void teleopInit()
    {
       while(isOperatorControl() && isEnabled())
        {
            drive.tankDrive(controller, 2, controller, 5);  // drive the robot according to joystick
            
            if (controller.getRawButton(buttonA))   // if button 1 is pressed on the controller 
            {                                       // then make the robot drive forward
                leftMotor1.set(1);                          
                leftMotor2.set(1);
                rightMotor1.set(1);
                rightMotor2.set(1);
            }
        }
    }
    
    public void telopPeriodic()
    {
        shooter.shoot();    // every 20mS call the shooting class 
    }
    
    public void telopContinuous()
    {
        
    }
    
        
// ***************** DISABLED METHODS ***************** //   
    public void disabledInit() 
    {
        
    }
    
    public void disabledPeriodic()
    {
        
    }
    
    public void disabledContinuous()
    {
        
    }
       
}

And the shooter Class:

package bilal.robotics.code;

import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Joystick.ButtonType;


public class Shooter 
{
    Jaguar shooter = new Jaguar(5);
    
    Joystick controller = new Joystick(2);
    
    final int buttonA = 1;
    
       
    
    public Shooter()
    {
        
    }
    
    public void shoot(){
        if(controller.getRawButton(buttonA)) {
            shooter.set(controller.getRawAxis(2));
        }
    }
    
}

So please tell me anything i did wrong, or a better way to do it.
Thanks

Also how would i deploy this code on to the robot.


Thanks