[hasin5]

Hi,

This code is iterative robot template based.

If you can spot something that is wrong in the code below, please let me know so I can fix the error. Suggestions would also be nice. Will this code work for the following functions:

1. Mobility
2. Moving wheels through motors
3. Pneumatics -> Piston

Also, for function #3, I know I have two instances of the code. One is the relay version and the other is the solenoid version. Which one do I use?

Also, I'd appreciate it if anyone can look over the parameters to see if they are correct in the constructors.

Here is the code:

package edu.wpi.first.wpilibj.templates;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Victor;

public class RobotTemplate extends IterativeRobot {
    
    int joystickPort = 1;
    
    int leftMotorChannel = 2;
    int rightMotorChannel = 1;
    
    int pressureSwitchChannel = 1;
    //The GPIO channel that the pressure switch is attached to.
    int compressorRelayChannel = 1;
    //The relay channel that the compressor relay is attached to.
    
    int relayModuleNumber = 1;
    int relayChannelNumber = 2;
    
    int victorOneChannel = 3;
    int victorTwoChannel = 4;
    
    RobotDrive theRobot = new RobotDrive(leftMotorChannel, rightMotorChannel);
    Joystick driveStick = new Joystick(joystickPort);
    Compressor mainCompressor = new Compressor(pressureSwitchChannel, compressorRelayChannel);
    Relay spike = new Relay(relayModuleNumber, relayChannelNumber);
    Victor wheelOne = new Victor(victorOneChannel);
    Victor wheelTwo = new Victor(victorTwoChannel);
    
    //if relay doesn't work - use this:
    Solenoid pistonExtract = new Solenoid (1);
    Solenoid pistonRetract = new Solenoid (2);
    
    public void robotInit() {
        mainCompressor.start();
    }

    public void autonomousPeriodic() {
        // will fill later
    }

    public void teleopPeriodic() {
        
        //variables expected to update periodically
        double moveValue = driveStick.getAxis(Joystick.AxisType.kY);
        double rotateValue = driveStick.getAxis(Joystick.AxisType.kX);
        
        theRobot.arcadeDrive(moveValue, -rotateValue); //robot driving
        
        double speed = 1.0; //adjustment back of joystick

        if (driveStick.getTrigger()) { //shooter wheels
            wheelOne.set(speed);
            wheelTwo.set(speed);
        }else{
            wheelOne.set(0.0);
            wheelTwo.set(0.0);
        }
        
        //one variation to work with piston
        if (driveStick.getRawButton(3)) { //top-middle button
            spike.setDirection(Relay.Direction.kForward);
        } else if (driveStick.getRawButton(4)) {
            spike.setDirection(Relay.Direction.kReverse);
        }else{
            spike.set(Relay.Value.kOff);
        }
        
        //which one to choose?
        
        //second variation to work with piston
        if (driveStick.getRawButton(5)) {
            pistonExtract.set(true);
            pistonRetract.set(false);
        }else if (driveStick.getRawButton(6)) {
            pistonRetract.set(false);
            pistonExtract.set(true);
        }else{
            pistonExtract.set(false);
            pistonExtract.set(false);
        }
        
    }
    
    public void testPeriodic() {
        
    }
    
}