Revert "removed magic numbers, renamed commands"

src/main/java/org/usfirst/frc/team449/robot/mechanism/intake/Intake2017/Intake2017.java

@@ -14,7 +14,6 @@ public class Intake2017 extends MappedSubsystem {
 	private DoubleSolenoid piston;
 	public boolean isIntaking;
 	public boolean intakeUp;
-	double fixedPctShoot, movingPctShoot, fixedPctPickup, movingPctPickup;
 
 	/**
 	 * Creates a mapped subsystem and sets its map
@@ -29,10 +28,6 @@ public Intake2017(maps.org.usfirst.frc.team449.robot.mechanism.intake.Intake2017
 		this.actuatedVictor = new VictorSP(map.getActuatedVictor().getPort());
 		actuatedVictor.setInverted(map.getActuatedVictor().getInverted());
 		this.piston = new DoubleSolenoid(map.getPistonModuleNum(), map.getPiston().getForward(), map.getPiston().getReverse());
-		this.fixedPctPickup = map.getFixedPctPickup();
-		this.movingPctPickup = map.getMovingPctPickup();
-		this.fixedPctShoot = map.getFixedPctShoot();
-		this.movingPctShoot = map.getMovingPctShoot();
 	}
 
 	public void setFixedVictor(double speed) {
@@ -49,16 +44,6 @@ public void setPiston(DoubleSolenoid.Value value) {
 		intakeUp = (value == DoubleSolenoid.Value.kReverse);
 	}
 
-	public void pickupBalls(){
-		setFixedVictor(fixedPctPickup);
-		setActuatedVictor(movingPctPickup);
-	}
-
-	public void prepareToShoot(){
-		setFixedVictor(fixedPctShoot);
-		setActuatedVictor(movingPctShoot);
-	}
-
 	public void setIntaking(boolean isIntaking){
 		this.isIntaking = isIntaking;
 	}

src/main/java/org/usfirst/frc/team449/robot/mechanism/intake/Intake2017/commands/spin/SIDI.java

@@ -1,12 +1,10 @@
 package org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.spin;
 
-import maps.org.usfirst.frc.team449.robot.mechanism.intake.Intake2017Map;
 import org.usfirst.frc.team449.robot.ReferencingCommand;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.Intake2017;
 
 /**
  * Created by ryant on 2017-02-19.
- * Sets the intake subsystem to the speed presets for intaking balls.
  */
 public class SIDI extends ReferencingCommand {
 
@@ -19,7 +17,8 @@ public SIDI(Intake2017 intake) {
 
 	@Override
 	protected void initialize() {
-		intake.pickupBalls();
+		intake.setFixedVictor(-0.7);
+		intake.setActuatedVictor(1);
 	}
 
 	@Override

src/main/java/org/usfirst/frc/team449/robot/mechanism/intake/Intake2017/commands/spin/SIDS.java

@@ -17,7 +17,8 @@ public SIDS(Intake2017 intake) {
 
 	@Override
 	protected void initialize() {
-		intake.prepareToShoot();
+		intake.setFixedVictor(-0.3);
+		intake.setActuatedVictor(0);
 	}
 
 	@Override

src/main/java/org/usfirst/frc/team449/robot/mechanism/singleflywheelshooter/SingleFlywheelShooter.java

@@ -17,7 +17,7 @@ public class SingleFlywheelShooter extends MappedSubsystem {
 	public boolean spinning;
 	private UnitlessCANTalonSRX talon;
 
-	public double throttle;
+	public double throttle=0.5;
 	/**
 	 * Counts per revolution
 	 */
@@ -92,6 +92,7 @@ protected void initDefaultCommand() {
 			e.printStackTrace();
 		}
 		startTime = System.nanoTime();
+//		setDefaultCommand(new PIDTune(this));
 		System.out.println("Finished init default command");
 	}
 }

src/main/java/org/usfirst/frc/team449/robot/mechanism/topcommands/shooter/IntakeBalls.java → src/main/java/org/usfirst/frc/team449/robot/mechanism/topcommands/shooter/LoadShooter.java

@@ -15,8 +15,8 @@
 /**
  * Created by ryant on 2017-02-18.
  */
-public class IntakeBalls extends CommandGroup {
-	public IntakeBalls(SingleFlywheelShooter sfs, Intake2017 intake, FeederSubsystem feeder) {
+public class LoadShooter extends CommandGroup {
+	public LoadShooter(SingleFlywheelShooter sfs, Intake2017 intake, FeederSubsystem feeder) {
 		requires(intake);
 		addParallel(new DecelerateFlywheel(sfs, 5));
 

src/main/java/org/usfirst/frc/team449/robot/mechanism/topcommands/shooter/PrepareToShoot.java → src/main/java/org/usfirst/frc/team449/robot/mechanism/topcommands/shooter/RackShooter.java

@@ -9,7 +9,6 @@
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.spin.SIDI;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.spin.SIDS;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.spin.StaticIntakeStop;
-import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.updown.IntakeDown;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.updown.IntakeUp;
 import org.usfirst.frc.team449.robot.mechanism.singleflywheelshooter.SingleFlywheelShooter;
 import org.usfirst.frc.team449.robot.mechanism.singleflywheelshooter.commands.AccelerateFlywheel;
@@ -18,13 +17,13 @@
 /**
  * Created by ryant on 2017-02-18.
  */
-public class PrepareToShoot extends CommandGroup {
-	public PrepareToShoot(SingleFlywheelShooter sfs, Intake2017 intake, FeederSubsystem feeder) {
+public class RackShooter extends CommandGroup {
+	public RackShooter(SingleFlywheelShooter sfs, Intake2017 intake, FeederSubsystem feeder) {
 		requires(intake);
 
 		addParallel(new AccelerateFlywheel(sfs, 5));
 
-		addParallel(new IntakeDown(intake));
+		addParallel(new IntakeUp(intake));
 		addParallel(new SIDS(intake));
 
 		addParallel(new StopFeeder(feeder));

src/main/java/org/usfirst/frc/team449/robot/oi/OI2017ArcadeGamepad.java

@@ -15,10 +15,12 @@
 import org.usfirst.frc.team449.robot.mechanism.climber.commands.StopClimbing;
 import org.usfirst.frc.team449.robot.mechanism.feeder.commands.ToggleFeeder;
 import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.ToggleIntakeUpDown;
+import org.usfirst.frc.team449.robot.mechanism.intake.Intake2017.commands.ToggleIntaking;
+import org.usfirst.frc.team449.robot.mechanism.singleflywheelshooter.commands.ToggleFlywheel;
 import org.usfirst.frc.team449.robot.mechanism.singleflywheelshooter.commands.ToggleShooter;
 import org.usfirst.frc.team449.robot.mechanism.topcommands.shooter.FireShooter;
-import org.usfirst.frc.team449.robot.mechanism.topcommands.shooter.IntakeBalls;
-import org.usfirst.frc.team449.robot.mechanism.topcommands.shooter.PrepareToShoot;
+import org.usfirst.frc.team449.robot.mechanism.topcommands.shooter.LoadShooter;
+import org.usfirst.frc.team449.robot.mechanism.topcommands.shooter.RackShooter;
 import org.usfirst.frc.team449.robot.oi.components.SmoothedThrottle;
 import org.usfirst.frc.team449.robot.oi.components.Throttle;
 import org.usfirst.frc.team449.robot.vision.commands.ChangeCam;
@@ -193,10 +195,10 @@ public void mapButtons() {
 			shoot.whenPressed(new ToggleShooter(Robot.singleFlywheelShooterSubsystem));
 		}
 		if (loadShooter != null) {
-			loadShooter.whenPressed(new IntakeBalls(Robot.singleFlywheelShooterSubsystem, Robot.intakeSubsystem, Robot.feederSubsystem));
+			loadShooter.whenPressed(new LoadShooter(Robot.singleFlywheelShooterSubsystem, Robot.intakeSubsystem, Robot.feederSubsystem));
 		}
 		if (rackShooter != null) {
-			rackShooter.whenPressed(new PrepareToShoot(Robot.singleFlywheelShooterSubsystem, Robot.intakeSubsystem, Robot.feederSubsystem));
+			rackShooter.whenPressed(new RackShooter(Robot.singleFlywheelShooterSubsystem, Robot.intakeSubsystem, Robot.feederSubsystem));
 		}
 		if (fireShooter != null) {
 			fireShooter.whenPressed(new FireShooter(Robot.singleFlywheelShooterSubsystem, Robot.intakeSubsystem, Robot.feederSubsystem));

src/main/proto/org/usfirst/frc/team449/robot/mechanism/intake/Intake2017.proto

@@ -12,8 +12,4 @@ message Intake2017 {
 	required Motor actuated_victor = 3;
     required DoubleSolenoid piston = 4;
     required int32 pistonModuleNum = 5;
-	required double fixed_pct_pickup = 6;
-	required double moving_pct_pickup = 7;
-	required double fixed_pct_shoot = 8;
-	required double moving_pct_shoot = 9;
 }

src/main/resources/final_map.cfg

@@ -371,10 +371,6 @@ intake {
 		reverse: 4
 	}
 	pistonModuleNum: 15
-    fixed_pct_pickup: -0.7
-    moving_pct_pickup: 1
-    fixed_pct_shoot: -0.3
-    moving_pct_pickup: 0
 }
 camera {
     server {