[miw14]

Thanks, here is the full code:

/*----------------------------------------------------------------------------*/ /*
 Copyright (c) FIRST 2008. All Rights Reserved. */ /* Open Source Software - may be modified and shared by FRC teams. The code */ /* must be accompanied by the FIRST BSD license file in the root directory of */ /* the project. */ /*-------------------------------------------------------------------*/ package edu.wpi.first.wpilibj.templates;
 import edu.wpi.first.wpilibj.SimpleRobot; 
import edu.wpi.first.wpilibj.Joystick; 
import edu.wpi.first.wpilibj.RobotDrive; 
import edu.wpi.first.wpilibj.Talon; 
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor; 
/** * * The VM is configured to automatically run this class, and to call the * * functions corresponding to each mode, as described in the SimpleRobot * * 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 Drive extends SimpleRobot 
{ 
private RobotDrive myDrive, Shooter; 
private Joystick driveStick; 
private Talon FrontRight, FrontLeft, BackRight, BackLeft; 
private Victor M1, M2; 
/** * * This function is called once each time the robot enters autonomous * mode. */
 public void robotInit() 
{ 
FrontRight = new Talon(4);
 BackLeft = new Talon(1); 
FrontLeft = new Talon(3); 
BackRight = new Talon(2); 
myDrive = new RobotDrive(FrontLeft, BackLeft, FrontRight, BackRight);
myDrive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);  myDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true); 
M1 = new Victor(5);
 M2 = new Victor(6); 
Shooter = new RobotDrive(M1, M2);
driveStick = new Joystick(1);
 } 
public void autonomous() { 
myDrive.setSafetyEnabled(false); 

 myDrive.drive(-.5, 0.0); 
Timer.delay(3.5);
 myDrive.stopMotor(); 
Timer.delay(1.5); 
startRaisingLauncher(); 
Timer.delay(3.5); 
stopMovingLauncher(); 
 stopAll();
 } 
public void operatorControl() { 
myDrive.setSafetyEnabled(true); 
while (isOperatorControl() && isEnabled()) 
{
myDrive.arcadeDrive(driveStick); 
 checkLauncherControl(); Timer.delay(0.01); 
} 
 
stopAll(); 
}

 private void checkLauncherControl() { 
int RAISE_BUTTON = 1; 
int LOWER_BUTTON = 2;
 if (driveStick.getRawButton(RAISE_BUTTON) == true) 
{ startRaisingLauncher(); 
} 
else if (driveStick.getRawButton(LOWER_BUTTON) == true) 
{ startLoweringLauncher(); 
}
 else 
{ stopMovingLauncher(); 
} 
} 
 private void stopAll() 
{ myDrive.stopMotor(); 
stopMovingLauncher(); }

private void stopMovingLauncher() 
{ setLiftPower(0);
 } 
 private void startRaisingLauncher() {
setLiftPower(-1); } 

private void startLoweringLauncher() { 
 setLiftPower(0.5); } 
private void setLiftPower(double power) { 
 M1.set(-power); 
M2.set(power); 
 }