[Bluejackets]

#include "WPILib.h"

/**
* This is a demo program showing the use of the RobotDrive class.
* The SampleRobot class is the base of a robot application that will automatically call your
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
* the driver station or the field controls.
*
* WARNING: While it may look like a good choice to use for your code if you're inexperienced,
* don't. Unless you know what you are doing, complex code will be much more difficult under
* this system. Use IterativeRobot or Command-Based instead if you're new.
*/
class Robot: public Robot
{
RobotDrive myRobot; // robot drive system
Joystick stick; // only joy stick
Joystick stick2;
TalonSRX talon;


public:
Robot() :
myRobot(0, 1), // these must be initialized in the same order
stick(0), // as they are declared above.
stick2(1),
talon(2)
{
myRobot.SetExpiration(0.1);
}

/**
* Drive left & right motors for 2 seconds then stop
*/
void Autonomous()
{
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot


}

/**
* Runs the motors with arcade steering.
*/
void OperatorControl()
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled())
{
myRobot.TankDrive(stick, stick2); // drive with arcade style (use right stick)
Wait(0.005); // wait for a motor update time
talon.Get();
if(stick.GetRawButton(1)){
talon.Set(1);
}else{
talon.Set(0);
}
}

};



/**
* Runs during test mode
*/
#include "WPILib.h"


/**
* This is a demo program showing the use of the RobotDrive class.
* The SampleRobot class is the base of a robot application that will automatically call your
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
* the driver station or the field controls.
*
* WARNING: While it may look like a good choice to use for your code if you're inexperienced,
* don't. Unless you know what you are doing, complex code will be much more difficult under
* this system. Use IterativeRobot or Command-Based instead if you're new.
*/
class Robot: public SampleRobot
{
RobotDrive myRobot; // robot drive system
Joystick stick; // only joy stick
Joystick stick2;
TalonSRX talon;


public:
Robot() :
myRobot(0, 1), // these must be initialized in the same order
stick(0), // as they are declared above.
stick2(1),
talon(2)
{
myRobot.SetExpiration(0.1);
}

/**
* Drive left & right motors for 2 seconds then stop
*/
void Autonomous()
{
myRobot.SetSafetyEnabled(false);
myRobot.Drive(-0.5, 0.0); // drive forwards half speed
Wait(2.0); // for 2 seconds
myRobot.Drive(0.0, 0.0); // stop robot


}

/**
* Runs the motors with arcade steering.
*/
void OperatorControl()
{
myRobot.SetSafetyEnabled(true);
while (IsOperatorControl() && IsEnabled())
{
myRobot.TankDrive(stick, stick2); // drive with arcade style (use right stick)
Wait(0.005); // wait for a motor update time
talon.Get();
if(stick.GetRawButton(1)){
talon.Set(1);
}else{
talon.Set(0);
}
}

}



/**
* Runs during test mode
*/
void Test()
{
}
};

START_ROBOT_CLASS(Robot);

};