How in the world do I code and wire this wacky sensor(a.k.a. Photoswitch)

[wolfspell12]

It is actually 24 volts according to the manufacture's manual that we printed- don't mean to be a know-it-all.

Anyways, we can't even get the part to move without the sensor. The Jag code all looks normal to me.

We tested and the jag will operate with BDC-Comm.

Anyone have a clue what's wrong with our 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.Joystick;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DriverStationLCD;
import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.IterativeRobot;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * 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 IterativeRobot {

    Joystick driver = new Joystick(1);
    Joystick operator = new Joystick(2);
    Jaguar claw = new Jaguar(6);
    Jaguar frontLeft = new Jaguar(2);
    Jaguar rearLeft = new Jaguar(3);
    Jaguar frontRight = new Jaguar(4);
    Jaguar rearRight = new Jaguar(5);
    Jaguar defender = new Jaguar(10);
    Compressor comp = new Compressor(1, 1);//Constructor Order: Digitial I/O, Relay
    Solenoid boomup = new Solenoid(7);
    Solenoid boomdown = new Solenoid(1);
    RobotDrive drive = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight);
    Gyro gyro = new Gyro(1);
    //Timer time = new Timer();
    DigitalInput photoswitch = new DigitalInput(2);
    DriverStationLCD dataPrinter = DriverStationLCD.getInstance();
    boolean didAuto = false;

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
        gyro.reset();
        comp.start();
        drive.setSafetyEnabled(false);
        /* drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kFrontRight, false);
        drive.setInvertedMotor(RobotDrive.MotorType.kRearRight, false);*/
        
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        log("didAuto= " + didAuto);

        if (didAuto) {
            return;//after value is set to true, the code will stop executing.
        }
        final double autoSpeed = 1.0;
        final long autoTime = 5000; //mili seconds

        long start = System.currentTimeMillis();
        while (true) {
            drive.tankDrive(autoSpeed, autoSpeed);
            //frontLeft.set(autoSpeed);//invert these if it drives backwards
            //rearLeft.set(autoSpeed);
            //frontRight.set(-autoSpeed);//Experimental
            //rearRight.set(-autoSpeed);//inversion of input will drive forward (we hope!)
            if ((System.currentTimeMillis() - start) > autoTime) {
                break;
            }
        }//moves robot straight forward for five seconds
//       log("Time start " + System.currentTimeMillis());
//       Timer.delay(autoTime);
//       log("Timer stop " + System.currentTimeMillis());
        claw.set(-.7);//drops claw
        didAuto = true;//prevents autonomous from running again.
    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        //final double axisOutput = driver.getRawAxis(4);
        drive.mecanumDrive_Cartesian(driver.getRawAxis(1), driver.getRawAxis(3), -driver.getRawAxis(2), gyro.getAngle());
        /*if (driver.getRawAxis(4) < -0.1) {
            //to strafe left
            log("I'm going left " + axisOutput);
            frontLeft.set(-driver.getRawAxis(4));
            rearLeft.set(driver.getRawAxis(4));
            frontRight.set(driver.getRawAxis(4));
            rearRight.set(-driver.getRawAxis(4));
        } else if (driver.getRawAxis(4) > 0.1) {
            //to strafe right
            log("I'm going right " + axisOutput);
            frontLeft.set(driver.getRawAxis(4));
            rearLeft.set(-driver.getRawAxis(4));
            frontRight.set(-driver.getRawAxis(4));
            rearRight.set(driver.getRawAxis(4));
        }  else if(driver.getRawAxis(5) > 0){
         frontLeft.set(driver.getRawAxis(5));
         rearLeft.set(driver.getRawAxis(5));
         frontRight.set(driver.getRawAxis(5));
         rearRight.set(driver.getRawAxis(5));
         }
         else if(driver.getRawAxis(5) < 0){
         frontLeft.set(driver.getRawAxis(5));
         rearLeft.set(driver.getRawAxis(5));
         frontRight.set(driver.getRawAxis(5));
         rearRight.set(driver.getRawAxis(5));
         } else {
            drive.mecanumDrive_Cartesian(driver.getRawAxis(1), driver.getRawAxis(2), -driver.getRawAxis(3), gyro.getAngle());
            log("I'm reaching the else. Yay!");
        }*/

        if (operator.getRawButton(4)) {
            //Y button
            claw.set(1);
        } else if (operator.getRawButton(1)) {
            claw.set(-0.7);
        } else {
            claw.set(0);
        }

        if (operator.getRawButton(8)) {
            //Start button
            comp.start();
        } else if (operator.getRawButton(7)) {
            //Back 
            comp.stop();
        }

        if (driver.getRawButton(8)) {
            comp.start();
        } else if (driver.getRawButton(7)) {
            comp.stop();
        }

        if (operator.getRawButton(5)) {
            boomup.set(true);
            boomdown.set(false);
        } else if (operator.getRawButton(6)) {
            boomdown.set(true);
            boomup.set(false);
        }
        /* if (photoswitch.get() == true) {
        if (operator.getRawButton(2)) {
        defender.set(1.0);
        }
        }
        else if (photoswitch.get() == false) {
        if (operator.getRawButton(3)) {
        defender.set(-1.0);
        }
        }*/
        if (operator.getRawButton(2)) {
            defender.set(1.0);
        } else if (operator.getRawButton(3)) {
            defender.set(-1.0);
        }
    }
        
    

    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
        didAuto = false;
    }

    public double centerXbox(double axisOutput) {
        double reducedSensitivity = axisOutput;
        if (axisOutput > -0.2 || axisOutput < 0.2) {
            reducedSensitivity = 0;
        }
        return reducedSensitivity;
    }

    private void log(String msg) {
        dataPrinter.clear();
        dataPrinter.println(DriverStationLCD.Line.kUser1, 1, msg);
        dataPrinter.updateLCD();
    }

}