bruce.java

package org.usfirst.frc.team295.robot;

import com.ctre.CANTalon;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.buttons.JoystickButton;

/**
 * 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 Robot extends IterativeRobot {
	 RobotDrive myRobot;  // class that handles basic drive operations
	    Joystick driver;  // set to ID 1 in DriverStation
	    CANTalon driveBackLeft;
	    CANTalon driveBackRight;
	    CANTalon driveFrontLeft;
	    CANTalon driveFrontRight;
	    JoystickButton high;
	    JoystickButton low;
	    DoubleSolenoid shifter;
	    public static final DoubleSolenoid.Value GearHigh = DoubleSolenoid.Value.kReverse;
	    public static final DoubleSolenoid.Value GearLow = DoubleSolenoid.Value.kForward;
	    public Robot() {
	    	driver = new Joystick(0);
	    	driveBackLeft = new CANTalon(4);
	    	driveFrontLeft = new CANTalon(3);
	    	driveBackRight = new CANTalon(2);
	    	driveFrontRight = new CANTalon(1);
	    	Compressor c = new Compressor(0);
	    	high = new JoystickButton(driver,2);
	    	low = new JoystickButton(driver,1);
	    	
	    	shifter = new DoubleSolenoid(0, 1);
	    	shifter.set(GearHigh);
	    	c.setClosedLoopControl(true);
	        myRobot = new RobotDrive(driveFrontLeft,driveBackLeft,driveFrontRight,driveBackRight);
	        
	        myRobot.setInvertedMotor(RobotDrive.MotorType.kRearRight, true);
	        myRobot.setExpiration(0.1);
	    }

	    
	    /**
	     * Runs the motors with tank steering.
	     */
	    public void teleopPeriodic() {
//	    	driveBackRight.set(1);
//	    	driveFrontRight.set(1);
//	    	driveBackLeft.set(1);
//	    	driveFrontLeft.set(1);
	        while (isOperatorControl() && isEnabled()) {
	        	myRobot.tankDrive(driver.getRawAxis(1), driver.getRawAxis(5));
	        	Timer.delay(0.005);		// wait for a motor update time
	        	if(high.get()){
	        		shifter.set(GearHigh);
	        	}
	        	if(low.get()){
	        		shifter.set(GearLow);
	        	}
	        	
	        }
	    }
	    public void disabled(){
	    	System.out.println("disabled");

	    }

}