Robot not taking input

[sasha831]

Hello,
In the off season our team has been experimenting with Java, and i recently rewrote our Java code to function more efficiently. Unfortunately, With this new code, absolutely nothing works. The Robot does not drive and nothing runs. If i run the old code, then everything works, so it is a software issue. Also, i do not know why but i keep getting a robot drive not running fast enough error with the new code. Here is both the old and new code:

NEW CODE:

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Timer;

/**
 * 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 RobotTemplate extends SimpleRobot {
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    
    //Declare drive base, jaguars and compressor
    RobotDrive myBase = new RobotDrive(1, 2);
    Joystick joystick = new Joystick(1);
    Jaguar shootingFront = new Jaguar(3);
    Jaguar shootingBack = new Jaguar(4);
    Jaguar push = new Jaguar(6);
    Jaguar roll = new Jaguar(5);
    Compressor compressor = new Compressor(1,1);
    Solenoid solenoidPistonOut = new Solenoid(1);
    Solenoid solenoidPistonIn = new Solenoid(2);
    DigitalInput topMicro = new DigitalInput(1);
    DigitalInput bottomMicro = new DigitalInput(2);
    
    double shooterMotorFront = 0;
    double shooterMotorBack = 0;
    double pushMotor = 0; 
    double rollMotor = 0;
    double xStick = 0;
    double yStick = 0;
    boolean pistonOut = false;
    boolean pistonIn = false;
    
    public void runMotor() {
        shootingFront.set(shooterMotorFront);
        shootingBack.set(shooterMotorBack);
        push.set(pushMotor);
        roll.set(rollMotor);
        solenoidPistonIn.set(pistonIn);
        solenoidPistonOut.set(pistonOut);
    }

    public void autonomous() {
        int state = 1;
        int c = 0;
        
        switch(state) {
                case 1:
                    shooterMotorFront = 0.8;
                    shooterMotorBack = 0.8;
                    Timer.delay(3);
                    state = 2;
                break;
                case 2:
                    pistonIn = false;
                    pistonOut = true;
                    Timer.delay(1);
                    state = 3;
                break;
                case 3:
                    pistonOut = false;
                    pistonIn = true;
                    Timer.delay(1);
                    state = 4;
                break;
                case 4:
                    if (c == 1) {
                        while(topMicro.get() == true) {
                           rollMotor = 0.4;
                        }
                        state = 2;
                    }
                    else if(c == 2) {
                        while(bottomMicro.get() == true) {
                            rollMotor = 0.4;
                        }
                        state = 2;
                    }
                    else if (c == 3) {
                        state = 5;
                    }
                break;
                case 5:
                    shooterMotorFront = 0;
                    shooterMotorBack = 0;
                    state = 0;
                break;
        }
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() {

        myBase.setSafetyEnabled(true);
        int state = 0;
        int c = 0;
        double zStick;
        double map_zStick;
        
        compressor.start();
        
        
        while (isOperatorControl() && isEnabled()) {
            
            if (joystick.getRawButton(6) == true) {
                state = 0;
            }
            
            if (joystick.getRawButton(3)) {
                state = 8;
            }
            
            myBase.arcadeDrive(0.5, 0.5);
            
            switch(state) { 
                case 0:
                    //Get Throttle and map it to a value from 0 to 1
                    zStick = joystick.getAxis(Joystick.AxisType.kZ);
                    map_zStick = (zStick+1)/2;
            
                    //Get x-Axis and map it based on throttle
                    xStick = joystick.getAxis(Joystick.AxisType.kX);
                    xStick = xStick * map_zStick * (-1);
            
                    //Get y-Axis and map it based on throttle
                    yStick = joystick.getAxis(Joystick.AxisType.kY);
                    yStick = yStick * map_zStick * (-1);
                    
                    if (joystick.getRawButton(2) == true) {
                        state = 1;
                    }
                break;
                case 1:
                    int i =0;
                    while(i<3) {
                        rollMotor = 0.4;
                        if (topMicro.get() == true) {
                            i++;
                        }
                    }
                    state = 2;
                break;
                case 2:
                    //Get Throttle and map it to a value from 0 to 1
                    zStick = joystick.getAxis(Joystick.AxisType.kZ);
                    map_zStick = (zStick+1)/2;
            
                    //Get x-Axis and map it based on throttle
                    xStick = joystick.getAxis(Joystick.AxisType.kX);
                    xStick = xStick * map_zStick * (-1);
            
                    //Get y-Axis and map it based on throttle
                    yStick = joystick.getAxis(Joystick.AxisType.kY);
                    yStick = yStick * map_zStick * (-1);
                    
                    myBase.arcadeDrive(yStick, xStick);
                    
                    if (joystick.getRawButton(2) == true) {
                        state = 3;
                    }
                break;
                case 3:
                    shooterMotorFront = 0.8;
                    shooterMotorBack = 0.8;
                    Timer.delay(3);
                    state = 4;
                break;
                case 4:
                    pistonIn = false;
                    pistonOut = true;
                    Timer.delay(1);
                    state = 5;
                break;
                case 5:
                    pistonOut = false;
                    pistonIn = true;
                    Timer.delay(1);
                    state = 6;
                break;
                case 6:
                    if (c == 1) {
                        while(topMicro.get() == true) {
                           rollMotor = 0.4;
                        }
                        state = 4;
                    }
                    else if(c == 2) {
                        while(bottomMicro.get() == true) {
                            rollMotor = 0.4;
                        }
                        state = 4;
                    }
                    else if (c == 3) {
                        state = 7;
                    }
                break;
                case 7:
                    shooterMotorFront = 0;
                    shooterMotorBack = 0;
                    state = 0;
                break;
                case 8:
                    long end = System.currentTimeMillis() + 10000;
                    while(System.currentTimeMillis() < end) {
                        yStick = 0.6;
                    }
                    state = 9;
                break;
                case 9:
                    if (joystick.getRawButton(11) == true) {
                        state = 0;
                    }
                break;
            }
            
            Timer.delay(0.01);
            
            runMotor();
        }
        compressor.stop();
    }
    /**
     * This function is called once each time the robot enters test mode.
     */
    public void test() {
    
    }
}

OLD CODE:

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Timer;

/**
 * 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 RobotTemplate extends SimpleRobot {
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    
    //Declare drive base, jaguars and compressor
    RobotDrive myBase = new RobotDrive(1, 2);
    
    Joystick joystick = new Joystick(1);
    
    Jaguar shootingFront = new Jaguar(3);
    Jaguar shootingBack = new Jaguar(4);
    Jaguar push = new Jaguar(6);
    Jaguar roll = new Jaguar(5);
    
    Compressor compressor = new Compressor(1,1);
    Solenoid solenoidPistonOut = new Solenoid(1);
    Solenoid solenoidPistonIn = new Solenoid(2);
    
    double shooterMotorFront;
    double shooterMotorBack;
    double pushMotor; 
    double rollMotor;
    boolean pistonOut = false;
    boolean pistonIn = false;
    
    public void runMotor() {
        shootingFront.set(shooterMotorFront);
        shootingBack.set(shooterMotorBack);
        push.set(pushMotor);
        roll.set(rollMotor);
        solenoidPistonIn.set(pistonIn);
        solenoidPistonOut.set(pistonOut);
    }

    public void autonomous() {
        
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() {

        myBase.setSafetyEnabled(true);
        boolean kTriggerButton=false;        
        boolean kTopButton=false;
        boolean button3=false;
        
        compressor.start();
        
        while (isOperatorControl() && isEnabled()) {
            //Get Throttle and map it to a value from 0 to 1
            double zStick = joystick.getAxis(Joystick.AxisType.kZ);
            double map_zStick = (zStick+1)/2;
            
            //Get x-Axis and map it based on throttle
            double xStick = joystick.getAxis(Joystick.AxisType.kX);
            xStick = xStick * map_zStick * (-1);
            
            //Get y-Axis and map it based on throttle
            double yStick = joystick.getAxis(Joystick.AxisType.kY);
            yStick = yStick * map_zStick * (-1);
            
            //Set Robot Drive to mapped Joystick Values
            myBase.arcadeDrive(yStick, xStick);
            
            //Check Trigger and set Shooting Motors accordingly
            if(joystick.getButton(Joystick.ButtonType.kTrigger)==true && kTriggerButton==false) {
                shooterMotorFront = -0.8;
                shooterMotorBack = -0.8;
                kTriggerButton=true;
            }
            else if(joystick.getButton(Joystick.ButtonType.kTrigger)==false && kTriggerButton==true) {
                shooterMotorFront = 0;
                shooterMotorBack = 0;
                kTriggerButton=false;
            }
            
            //Check button 2 and set pushing motor accordingly
            if(joystick.getButton(Joystick.ButtonType.kTop)==true && kTopButton==false) {
                pushMotor = 0.8;
                kTopButton=true;
            }
            else if(joystick.getButton(Joystick.ButtonType.kTop)==false && kTopButton==true) {
                pushMotor = 0;
                kTopButton=false;
            }
            
            //Check Buton 3 an set top wheel accordingly
            if(joystick.getRawButton(3)==true && button3==false) {
                rollMotor = 0.4;
                button3=true;
            }
            else if(joystick.getRawButton(3)==false && button3==true) {
                rollMotor = 0;
                button3=false;
            }
            
            if (joystick.getRawButton(4)) {
                pistonOut = true;
            }
            else if (joystick.getRawButton(5)) {
                pistonIn = true;
            }
            else {
                pistonOut = false;
                pistonIn = false;
            }
            
            Timer.delay(0.01);
            
            runMotor();
        }
        compressor.stop();
    }
    /**
     * This function is called once each time the robot enters test mode.
     */
    public void test() {
    
    }
}

Any help would be greatly appreciated!

Sasha
Team Melbourne
FRC #4529