2017-code/Robot.java-2-10-17 at Dylan · fusion-6763/2017-code · GitHub

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package org.usfirst.frc.team6763.robot;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
//Imports the other files needed by the program
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
//Imports the other files needed by the program
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;


/**
 * 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 = new RobotDrive(0, 2);
	Joystick stick = new Joystick(0);
	Timer timer = new Timer();

	//DigitalInput LimitSwitch;
	//DigitalInput LimitSwitch1;

	Encoder rightEncoder;
	Encoder leftEncoder;


	/**
	 * This function is run when the robot is first started up and should be
	 * used for any initialization code.
	 */
	@Override
	public void robotInit() {
		//LimitSwitch = new DigitalInput(0);
		//LimitSwitch1 = new DigitalInput(1);

		rightEncoder = new Encoder(1, 0);
    	rightEncoder.setReverseDirection(true);
    	leftEncoder = new Encoder (3, 2);
    	leftEncoder.setReverseDirection(false);
	}

	/**
	 * This function is run once each time the robot enters autonomous mode
	 */
	@Override
	public void autonomousInit() {
		timer.reset();
		timer.start();
	}

	/**
	 * This function is called periodically during autonomous
	 */
	@Override
	public void autonomousPeriodic() {
		// Drive for 2 seconds
		/*
		if (timer.get() < 2.0) {
			myRobot.drive(-0.5, 0.1); // drive forwards half speed
		} else if (timer.get() > 2.0 && timer.get() < 5.75)  {
			myRobot.drive(-0.5, 0.5); // drive right
		} else if (timer.get() > 5.75 && timer.get() < 7.75)  {
			myRobot.drive(-0.5, 0.1); // drive forward
		} else {
			myRobot.drive(0.0, 0.0); // stop
		}
		*/


		//myRobot.tankDrive(-0.6, -0.5612);


		/*
		myRobot.tankDrive(0.6, 0.6);

		System.out.println("Right Encoder = " + rightEncoder.getRate());
		System.out.println("Left Encoder = " + leftEncoder.getRate());


		//System.out.println("RightEncoder = " + rightEncoder.get());
		//System.out.println("LeftEncoder = " + leftEncoder.get());
		 */

		if (rightEncoder.get() < 9750)
		{
			myRobot.tankDrive(-0.6, -0.5612);
			System.out.println("encoder count" + rightEncoder.get());
		} else
		{
			myRobot.tankDrive(0, 0);
			}

		if (leftEncoder.get() < 9750)
		{
			myRobot.tankDrive(-0.6, -0.5612);
			System.out.println("encoder count" + leftEncoder.get());
		} else
		{
			myRobot.tankDrive(0, 0);
			}

	}

	/**
	 * This function is called once each time the robot enters tele-operated
	 * mode
	 */
	@Override
	public void teleopInit() {
	}

	/**
	 * This function is called periodically during operator control
	 */
	@Override
	public void teleopPeriodic() {
		myRobot.arcadeDrive(stick);

		/*
		if (LimitSwitch.get()) {
    		myRobot.drive(0.0 ,0.0);
    		}


		if (LimitSwitch1.get()) {
    		myRobot.drive(0.0 ,0.0);
    		}
		*/
	}

	/**
	 * This function is called periodically during test mode
	 */
	@Override
	public void testPeriodic() {
		LiveWindow.run();
	}

	public void disabledPeriodic(){
		 System.out.println("RightEncoder = " + rightEncoder.get());
		 System.out.println("LeftEncoder = " + leftEncoder.get());
	 }

}