2017 Arcade Bot

.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
+	<classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
+	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
+	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CANJaguar.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRLib.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/navx_frc.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/niVisionWPI.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>2018 Arcade</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

build.properties

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+# Project specific information
+package=org.usfirst.frc.team3939.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

build.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>

src/org/usfirst/frc/team3939/robot/Robot.java

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+package org.usfirst.frc.team3939.robot;
+
+import edu.wpi.first.wpilibj.RobotDrive; 
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.CANJaguar;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
+//import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+//import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class. The
+ * SampleRobot class is the base of a robot application that will automatically
+ * call your Autonomous and OperatorControl methods at the right time as
+ * controlled by the switches on the driver station or the field controls.
+ *
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the SampleRobot
+ * 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.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're
+ * inexperienced, don't. Unless you know what you are doing, complex code will
+ * be much more difficult under this system. Use IterativeRobot or Command-Based
+ * instead if you're new.
+ */
+public class Robot extends SampleRobot {
+
+	CANJaguar LeftBackMotor, LeftFrontMotor, RightBackMotor, RightFrontMotor;
+	CANJaguar.ControlMode currControlMode;
+	RobotDrive myRobot;
+	Joystick stick = new Joystick(0);
+	int maxOutputSpeed;
+
+
+
+
+
+
+
+	public Robot() {
+		LeftBackMotor = new CANJaguar(1); //Left Back
+        LeftFrontMotor = new CANJaguar(3); //Left Front
+        RightBackMotor = new CANJaguar(5); //Right Back
+        RightFrontMotor = new CANJaguar(4); //Right Front 
+        myRobot = new RobotDrive(LeftFrontMotor, LeftBackMotor, RightFrontMotor, RightBackMotor);
+
+	}
+
+
+	@Override
+	public void robotInit() {
+	}
+
+	public void initaimdrive() {
+    	LeftFrontMotor.disableControl();
+        LeftFrontMotor.configMaxOutputVoltage(12.0);
+        LeftFrontMotor.configNeutralMode(CANJaguar.NeutralMode.Brake);
+        LeftFrontMotor.setPositionMode(CANJaguar.kQuadEncoder, 4320, 75, .0, 0);
+        LeftFrontMotor.enableControl();
+
+        RightFrontMotor.disableControl();
+        RightFrontMotor.configMaxOutputVoltage(12.0);
+        RightFrontMotor.configNeutralMode(CANJaguar.NeutralMode.Brake);
+        RightFrontMotor.setPositionMode(CANJaguar.kQuadEncoder, 4320, 75, .0, 0);
+        RightFrontMotor.enableControl();
+
+        LeftBackMotor.disableControl();
+        LeftBackMotor.configMaxOutputVoltage(12.0);
+        LeftBackMotor.configNeutralMode(CANJaguar.NeutralMode.Coast);
+        LeftBackMotor.setPositionMode(CANJaguar.kQuadEncoder, 4320, 75, .0, 0);
+        LeftBackMotor.enableControl();
+
+        RightBackMotor.disableControl();
+        RightBackMotor.configMaxOutputVoltage(12.0);
+        RightBackMotor.configNeutralMode(CANJaguar.NeutralMode.Coast);
+        RightBackMotor.setPositionMode(CANJaguar.kQuadEncoder, 4320, 75, .0, 0);
+        RightBackMotor.enableControl();
+
+    }
+
+    void initMotor( CANJaguar motor ) {
+        try {
+            if ( currControlMode == CANJaguar.JaguarControlMode.Position )
+            {
+                motor.configMaxOutputVoltage(12.0);
+                motor.configNeutralMode(CANJaguar.NeutralMode.Brake);
+                motor.setPositionMode(CANJaguar.kQuadEncoder, 4320, 0, .0, 0);
+            }
+            else
+            {
+            	motor.configNeutralMode(CANJaguar.NeutralMode.Brake);
+                motor.setPercentMode();
+            }
+            motor.enableControl();
+        } catch (Exception ex) {
+            ex.printStackTrace();
+        }
+    }    
+
+    void setMode( CANJaguar.ControlMode controlMode ) {
+
+        currControlMode = controlMode;
+
+        if ( currControlMode == CANJaguar.JaguarControlMode.Position )
+        {
+
+        }
+        else // kPercentVbus
+        {
+                maxOutputSpeed = 1;
+        }
+
+        initMotor(LeftBackMotor);
+        initMotor(LeftFrontMotor);
+        initMotor(RightBackMotor);
+        initMotor(RightFrontMotor);    
+        //initMotor(Jag_08);
+    }    
+
+    void checkForRestartedMotor( CANJaguar motor, String strDescription )
+    {
+        if ( currControlMode != CANJaguar.JaguarControlMode.Speed )   // kSpeed is the default
+        {
+            try {
+            	if ( !motor.isAlive() )
+                {
+                    Timer.delay(0.10); // Wait 100 ms
+                    initMotor( motor );
+                    String error = "\n\n>>>>" + strDescription + "Jaguar Power Cycled - re-initializing";
+                    System.out.println(error);
+                }
+            } catch (Exception ex) {
+                ex.printStackTrace();
+            }
+        }
+    }    
+
+	/**
+	 * This autonomous (along with the chooser code above) shows how to select
+	 * between different autonomous modes using the dashboard. The sendable
+	 * chooser code works with the Java SmartDashboard. If you prefer the
+	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+	 * getString line to get the auto name from the text box below the Gyro
+	 *
+	 * You can add additional auto modes by adding additional comparisons to the
+	 * if-else structure below with additional strings. If using the
+	 * SendableChooser make sure to add them to the chooser code above as well.
+	 */
+	@Override
+	public void autonomous() {
+			}
+
+	/**
+	 * Runs the motors with arcade steering.
+	 */
+	@Override
+	public void operatorControl() {
+		myRobot.setSafetyEnabled(true);  
+		while (isOperatorControl() && isEnabled()) {
+			myRobot.arcadeDrive(-stick.getY(), stick.getX());	
+
+			Timer.delay(0.005); // wait for a motor update time
+		}
+	}
+
+	/**
+	 * Runs during test mode
+	 */
+	@Override
+	public void test() {
+	}
+}