[Zalmay]

Hello again, I know I have posted this before but I have made slight modifications to the code and wondered if anyone could take a look at it to see if it has any errors. I ask this because when we tested it, it did not work. The A and B buttons were pressed, it just wasn't moving the piston. I have checked the CAN ID and made sure it is the same as the value I initialized it in the code, so that's not likely to be an issue. Thanks for the help in advance guys.

Robot.java:

package org.usfirst.frc.team4528.robot;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;

public class Robot extends SampleRobot 
{
	Victor frontLeft;
	Victor rearLeft;
	Victor frontRight;
	Victor rearRight;
	Victor motor;	//add-on
    RobotDrive myRobot;
    XBoxJoystick stick;
    Compressor compressor;
    DoubleSolenoid piston;
    
    public Robot() 
    {
    	frontLeft = new Victor(2);
    	rearLeft = new Victor(3);
    	frontRight = new Victor(0);
    	rearRight = new Victor(1);
    	motor = new Victor(4);		//add-on
        myRobot = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
        stick = new XBoxJoystick(0);
        compressor = new Compressor();	//null parameter
        piston = new DoubleSolenoid(0, 4, 5);	
        //CAN ID is first parameter(null if 0), second parameter is forward port and
        //third parameter is reverse port
    }
    
  //add-on
    

  	public void runMotor()
  	{
          	if(stick.getLeftZ() > 0 && stick.getRightZ() == 0)		//Changed so not functional if both pressed
          	{
          		motor.set(stick.getLeftZ());
          	}
          	else if(stick.getRightZ() > 0 && stick.getLeftZ() == 0)	//Changed so not functional if both pressed
          	{
          		motor.set(-stick.getRightZ());
          	}
          	else
          	{
          		motor.set(0.0);
          	}
  	}

  	public void moveArm()
  	{
  		compressor.start();
  		compressor.setClosedLoopControl(true);
  		
  		if(stick.getAButton() == true && stick.getBButton() != true)
  		{
  			piston.set(DoubleSolenoid.Value.kForward);
  		}
  		else if(stick.getBButton() == true && stick.getAButton() != true)
  		{
  			piston.set(DoubleSolenoid.Value.kReverse);
  		}
  		else
  		{
  			piston.set(DoubleSolenoid.Value.kOff);
  		}
  	}

    /**
     * Drive left & right motors for 2 seconds then stop
     */
    public void autonomous() 
    {
    	while(isAutonomous() && isEnabled())
    	{
    		//Drives full forward for 5 seconds then stops
    		myRobot.drive(1.0, 0.0);
    		Timer.delay(5.0);
    		myRobot.drive(0.0, 0.0);
    	}
    }
    
    /**
     * Runs the motors with arcade steering.
     */
    public void operatorControl() 
    {
        myRobot.setSafetyEnabled(false);
        while (isOperatorControl() && isEnabled()) 
        {
            myRobot.arcadeDrive(0.6*stick.getLeftY(), -0.6*stick.getRightX(), true);
            Timer.delay(0.005);		// wait for a motor update time
            runMotor();
        }
    }

    /**
     * Runs during test mode
     */
    public void test() 
    {
    	
    }
}

XBoxJoystick.java:

package org.usfirst.frc.team4528.robot;

import edu.wpi.first.wpilibj.Joystick;

public class XBoxJoystick 
{
	private Joystick joystick;
    private int port;

    private final double DEAD_ZONE = 0.08; // Chief Delphi said 0.05;

    public XBoxJoystick(int port) 
    {
            this.port = port;
            this.joystick = new Joystick(port);
    }

    public double getLeftX() 
    {
            return correctDeadSpot(joystick.getRawAxis(0));
    }

    public double getLeftY() 
    {
            return correctDeadSpot(joystick.getRawAxis(1));
    }

    public double getLeftZ() 
    {
        return joystick.getRawAxis(2);
    }
    
    public double getRightZ() 
    {
        return joystick.getRawAxis(3);
    }

    public double getRightX() 
    {
            return correctDeadSpot(joystick.getRawAxis(4));
    }

    public double getRightY() {
            return correctDeadSpot(joystick.getRawAxis(5));
    }

    public double getDpadX() 
    {
            return joystick.getRawAxis(6);
    }

    // WARNING this doesn't work with vanilla driver station
    public double getDpadY() 
    {
            return joystick.getRawAxis(7);
    }

    public boolean getAButton() 
    {
            return getButton(1);
    }

    public boolean getBButton() 
    {
            return getButton(2);
    }

    public boolean getXButton() 
    {
            return getButton(3);
    }

    public boolean getYButton() 
    {
            return getButton(4);
    }

    public boolean getLBButton() 
    {
            return getButton(5);
    }

    public boolean getRBButton() 
    {
            return getButton(6);
    }

    public boolean getBackButton() 
    {
            return getButton(7);
    }

    public boolean getStartButton() 
    {
            return getButton(8);
    }

    public boolean getLSButton() 
    {
            return getButton(9);
    }

    public boolean getRSButton() 
    {
            return getButton(10);
    }

    private double correctDeadSpot(double value) 
    {
            if (Math.abs(value) < DEAD_ZONE)
                    return 0;
            return value;
    }

    private boolean getButton(int buttonNumber) 
    {
            return joystick.getRawButton(buttonNumber);
    }
}