Merge remote-tracking branch 'template/master'

src/main/java/frc/robot/RobotContainer.java

@@ -14,6 +14,7 @@
 import frc.robot.Utility.Limelight;
 import frc.robot.Utility.Motor;
 import frc.robot.Utility.Motor.MotorType;
+import frc.robot.commands.ExampleCommand;
 import frc.robot.commands.Drivetrain.*;
 import frc.robot.commands.Drivetrain.TrackObject.WhatToTrack;
 import frc.robot.subsystems.DifferentialDrivetrain;
@@ -37,20 +38,6 @@
  * (including subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
-  Joystick m_controller = new Joystick(0);
-  JoystickButton turn = new JoystickButton(m_controller, 1);
-
-  //DifferentialDrivetrain m_drivetrain = new TalonSRX_DifferentialDrivetrain(
-  //  0.154, 
-  //  new WPI_TalonSRX(1), new WPI_TalonSRX(4),
-  //  new WPI_TalonSRX[]{new WPI_TalonSRX(2)}, new WPI_TalonSRX[]{new WPI_TalonSRX(5)}
-  //  );
-
-  DifferentialDrivetrain m_drivetrain = new DifferentialDrivetrain(
-    0.154,
-    new Motor(1, MotorType.TalonSRX), new Motor(4, MotorType.TalonSRX),
-    new Motor[]{new Motor(2, MotorType.TalonSRX)}, new Motor[]{new Motor(5, MotorType.TalonSRX)}
-    );
 
   // The robot's subsystems and commands are defined here...
   //Subsystems
@@ -60,18 +47,7 @@ public class RobotContainer {
   Shoot m_shoot;
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    Gyro.reset();
-    Gyro.calibrate();
-    Limelight.setPipeline(0);
-    m_drivetrain.configFeedforward(0.991, 3.27724, 1.04051);
-    m_drivetrain.configRotationFeedForward(0.0910536461972, 0.00629517415169, 0.0000576713721188);
-    m_drivetrain.configFeedforwardSided(
-      1.00760991292, 3.37832138739, -0.0405742345827,
-      1.00702736431, 3.25734393828, -0.0234916065671
-     );
-    m_drivetrain.setDefaultCommand(new ArcadeDrive(m_drivetrain, m_controller, 2, 270));
-    //m_drivetrain.setDefaultCommand(new TankDrive(m_drivetrain, m_controller));
-    configureButtonBindings();//0.145
+    configureButtonBindings();
   }
 
   /**
@@ -81,8 +57,7 @@ public RobotContainer() {
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
-    turn.whileHeld(new TrackObject(m_drivetrain, WhatToTrack.Ball));
-    //turn.whenPressed(new ToRotation(m_drivetrain));
+
   }
 
 
@@ -92,7 +67,11 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
+<<<<<<< HEAD
     //An ExampleCommand will run in autonomous
     return m_shoot;
+=======
+    return new ExampleCommand();
+>>>>>>> template/master
   }
 }

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

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands.Drivetrain;
+package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;