NEW PROGRAMMER - MOTOR PROGRAMMING

[LaurenMary]

It looks like you are programming your robot in a coding style called command based programming. I've been coding our robot this way for a few years and I'm pretty familiar with it. Here's a FIRST link that goes into greater detail about it: http://wpilib.screenstepslive.com/s/...ed-programming But essentially it is a style of programming that organizes your code into "subsytems", classes that define the different parts and functions of the robot (i.e. a drive train or a claw), and "commands" that define actions of your robot which use capabilities of your robot (i.e. Joystick drive, using drive train).

They way your code should be structured is to create your motors in a subsystem and try to run them in a command. In your subsystem you would need to construct a motor (a jaguar, vector, CANJaguar, etc.) and would look something like this:

public CANJaguar leftFront = new CANJaguar(4);

This piece of code would create a CANJaguar controlled motor called leftFront connected to port 4. Talk to your electrical team to figure out what type of motor controllers you use.

In a command you could run this motor. Here is a piece of code that would run a motor:

leftFront.setX(.95);

This sets the speed of your motor to .95. This code would probably go in the execute section of your command. To run code for a certain period of time we use the Timer class. This a piece of code I wrote this year:

if(timer.get()<=2000){
kicker.setSpeed(.95);
}
Basically has the motor run until the timer reaches 2 seconds.

All of your joystick and buttons should go in your OI. However, if your task it to run a motor for r5 seconds, two buttons really aren't necessary. If you have a command that runs a motor for 5 seconds, you can just assign that command to a button and use the whenPressed button method. It will automatically turn off the motor after 5 seconds anyway.

The doble you keep seeing is a primitive number type. Its really just a number that has a decimal, so like 4.5, 6.333, 0.9, etc.