Tank Drive!!

build.gradle

@@ -42,17 +42,20 @@ def includeDesktopSupport = false
 
 // Maven central needed for JUnit
 repositories {
+    maven { url "https://jitpack.io" }
     mavenCentral()
 }
 
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
+    compile 'com.github.WilliamAHartman:Jamepad:1.3.2'
     compile wpi.deps.wpilib()
     compile wpi.deps.vendor.java()
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
+
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

src/main/java/frc/robot/OI.java

@@ -1,42 +1,20 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. 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 frc.robot;
+import com.studiohartman.jamepad.ControllerManager;
 
-/**
- * This class is the glue that binds the controls on the physical operator
- * interface to the commands and command groups that allow control of the robot.
- */
-public class OI {
-  //// CREATING BUTTONS
-  // One type of button is a joystick button which is any button on a
-  //// joystick.
-  // You create one by telling it which joystick it's on and which button
-  // number it is.
-  // Joystick stick = new Joystick(port);
-  // Button button = new JoystickButton(stick, buttonNumber);
-
-  // There are a few additional built in buttons you can use. Additionally,
-  // by subclassing Button you can create custom triggers and bind those to
-  // commands the same as any other Button.
-
-  //// TRIGGERING COMMANDS WITH BUTTONS
-  // Once you have a button, it's trivial to bind it to a button in one of
-  // three ways:
+import edu.wpi.first.wpilibj.Joystick;
 
-  // Start the command when the button is pressed and let it run the command
-  // until it is finished as determined by it's isFinished method.
-  // button.whenPressed(new ExampleCommand());
+public class OI {
+  private Joystick driverController = new Joystick(RobotMap.DRIVER_CONTROLLER);
+  private static ControllerManager controller = new ControllerManager();
+  public double GetDriverRawAxis(int axis){
+    return driverController.getRawAxis(axis);
 
-  // Run the command while the button is being held down and interrupt it once
-  // the button is released.
-  // button.whileHeld(new ExampleCommand());
+  }
+
 
-  // Start the command when the button is released and let it run the command
-  // until it is finished as determined by it's isFinished method.
-  // button.whenReleased(new ExampleCommand());
+  public OI(){
+    controller.initSDLGamepad();
+  }
 }
+

src/main/java/frc/robot/Robot.java

@@ -7,14 +7,17 @@
 
 package frc.robot;
 
+//import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.commands.ExampleCommand;
 import frc.robot.subsystems.DriveTrain;
-import frc.robot.subsystems.ExampleSubsystem;
+
+//import frc.robot.subsystems.DriveTrain;
+
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -24,22 +27,26 @@
  * project.
  */
 public class Robot extends TimedRobot {
-  public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
+  public static DriveTrain driveTrain = new DriveTrain();
   public static OI m_oi;
-  public static DriveTrain drivetrain;
+  //public static WPI_TalonSRX leftMotor1 = new WPI_TalonSRX(RobotMap.leftMotor1);
+  //public static WPI_TalonSRX leftMotor12 = new WPI_TalonSRX(RobotMap.leftMotor2);
+  //public static WPI_TalonSRX rightMotor1 = new WPI_TalonSRX(RobotMap.rightMotor1);
+  //public static WPI_TalonSRX rightMotor2 = new WPI_TalonSRX(RobotMap.rightMotor2);
+  //public static DriveTrain drivetrain;
+
 
   Command m_autonomousCommand;
   SendableChooser<Command> m_chooser = new SendableChooser<>();
-
   /**
    * This function is run when the robot is first started up and should be
    * used for any initialization code.
    */
   @Override
   public void robotInit() {
-    drivetrain = new DriveTrain();
+    //drivetrain = new DriveTrain();
     m_oi = new OI();
-    m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
+
     // chooser.addOption("My Auto", new MyAutoCommand());
     SmartDashboard.putData("Auto mode", m_chooser);
     //robot initialization goes here. YAY

src/main/java/frc/robot/RobotMap.java

@@ -23,4 +23,19 @@ public class RobotMap {
   // number and the module. For example you with a rangefinder:
   // public static int rangefinderPort = 1;
   // public static int rangefinderModule = 1;
+  public static final int Motor_Left_1_ID = 1;
+  public static final int Motor_Left_2_ID = 3;
+  public static final int Motor_Right_1_ID = 2;
+  public static final int Motor_Right_2_ID = 4;
+  public static final int DRIVER_CONTROLLER = 0;
+public static final int LEFT_STICK_Y = 1;
+public static final int LEFT_STICK_X = 2;
+public static final int RIGHT_STICK_Y = 5;
+
+public static final int ONLY_STICKY = 0;
+public static final int ONLY_STICKX = 0;
+public static final int RIGHT_STICK_X = 0;
+public static final int JOYSTICK_CONTROLLER = 0;
+
+
 }

src/main/java/frc/robot/commands/Arcade_Drive.java

@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+import frc.robot.RobotMap;
+
+public class Arcade_Drive extends Command {
+  public Arcade_Drive() {
+    // Use requires() here to declare subsystem dependencies
+
+    requires(Robot.driveTrain);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    double leftstickY = Robot.m_oi.GetDriverRawAxis(RobotMap.LEFT_STICK_Y);
+    double leftstickX = Robot.m_oi.GetDriverRawAxis(RobotMap.RIGHT_STICK_X);
+    Robot.driveTrain.setLeftMotors(leftstickY*0.5);
+    Robot.driveTrain.setRightMotors(leftstickY*0.5);
+    if (leftstickX < 0){
+      Robot.driveTrain.setLeftMotors(leftstickY*0.5);
+      Robot.driveTrain.setRightMotors(leftstickY*0.1);
+    if (leftstickX > 0){
+      Robot.driveTrain.setRightMotors(leftstickY*0.5);
+      Robot.driveTrain.setLeftMotors(leftstickY*0.1);
+    }
+    }
+  }
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.driveTrain.setLeftMotors(0);
+    Robot.driveTrain.setRightMotors(0);
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc/robot/commands/ExampleCommand.java → src/main/java/frc/robot/commands/TankDrive.java

@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018 FIRST. 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.                                                               */
@@ -9,14 +9,12 @@
 
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
+import frc.robot.RobotMap;
 
-/**
- * An example command.  You can replace me with your own command.
- */
-public class ExampleCommand extends Command {
-  public ExampleCommand() {
+public class TankDrive extends Command {
+  public TankDrive() {
     // Use requires() here to declare subsystem dependencies
-    requires(Robot.m_subsystem);
+   requires(Robot.driveTrain);
   }
 
   // Called just before this Command runs the first time
@@ -27,6 +25,11 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    double leftstickY = Robot.m_oi.GetDriverRawAxis(RobotMap.LEFT_STICK_Y);
+    double rightstickY = Robot.m_oi.GetDriverRawAxis(RobotMap.RIGHT_STICK_Y);
+
+    Robot.driveTrain.setLeftMotors(leftstickY*0.5);
+    Robot.driveTrain.setRightMotors(rightstickY*0.5);
   }
 
   // Make this return true when this Command no longer needs to run execute()
@@ -38,11 +41,15 @@ protected boolean isFinished() {
   // Called once after isFinished returns true
   @Override
   protected void end() {
+
+    Robot.driveTrain.setLeftMotors(0);
+    Robot.driveTrain.setRightMotors(0);
   }
 
   // Called when another command which requires one or more of the same
   // subsystems is scheduled to run
   @Override
   protected void interrupted() {
+    this.end();
   }
 }

src/main/java/frc/robot/subsystems/DriveTrain.java

@@ -12,68 +12,32 @@
 import com.ctre.phoenix.motorcontrol.can.VictorSPX;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
+import frc.robot.RobotMap;
+import frc.robot.commands.Arcade_Drive;
 
 /**
  * Add your docs here.
  */
 public class DriveTrain extends Subsystem {
   // Put methods for controlling this subsystem
   // here. Call these from Commands.
-  TalonSRX rightMotor1;
-  VictorSPX rightMotor2;
-  TalonSRX leftMotor1;
-  VictorSPX leftMotor2;
-
-  private double leftSpeed;
-  private double rightSpeed;
-
-  public DriveTrain(){
-    rightMotor1 = new TalonSRX(1);
-    rightMotor2 = new VictorSPX(2);
-    leftMotor1 = new TalonSRX(30);
-    leftMotor2 = new VictorSPX(4);
-  }
-
-  public void tankDrive(double left, double right){
-
-    if(left > 1){
-      left = 1;
-    } else if(left < -1){
-      left = -1;
-    } else {
-      // these are valid inputs. do we want to change them?
-      if(left < 0){
-        left = -left*left;
-      }else {
-        left = left*left;
-      }
-    }
-    if(right > 1){
-      right = 1;
-    } else if(right < -1){
-      right = -1;
-    } else {
-      // these are valid inputs. do we want to change them?
-      if(right < 0){
-        right = -right*right;
-      }else {
-        right = right*right;
-      }
-    }
-
-    leftSpeed = left;
-    rightSpeed = right;
-
-    rightMotor1.set(ControlMode.PercentOutput, rightSpeed);
-    rightMotor2.set(ControlMode.PercentOutput, rightSpeed);
-    leftMotor1.set(ControlMode.PercentOutput, leftSpeed);
-    leftMotor2.set(ControlMode.PercentOutput, leftSpeed);
-
-  }
+  private TalonSRX motorLeft1 = new TalonSRX(RobotMap.Motor_Left_1_ID);
+  private VictorSPX motorLeft2 = new VictorSPX(RobotMap.Motor_Left_2_ID);
+  private TalonSRX motorRight1 = new TalonSRX(RobotMap.Motor_Right_1_ID);
+  private VictorSPX motorRight2 = new VictorSPX(RobotMap.Motor_Right_2_ID);
 
   @Override
   public void initDefaultCommand() {
     // Set the default command for a subsystem here.
-    // setDefaultCommand(new MySpecialCommand());
+    setDefaultCommand(new Arcade_Drive());
+  }
+
+  public void setLeftMotors(double speed){
+    motorLeft1.set(ControlMode.PercentOutput, speed);
+    motorLeft2.set(ControlMode.PercentOutput, speed);
+  }
+  public void setRightMotors(double speed){
+    motorRight1.set(ControlMode.PercentOutput, -speed);
+    motorRight2.set(ControlMode.PercentOutput, -speed);
   }
 }