From 20204c73e28686415c4ab4de1dadb54c6b9daec3 Mon Sep 17 00:00:00 2001
From: hell0w0rld2 <43834630+hell0w0rld2@users.noreply.github.com>
Date: Tue, 13 Nov 2018 19:51:28 -0700
Subject: [PATCH 1/4] created file to test pull requests

---
 pygame/myfile.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 pygame/myfile.txt

diff --git a/pygame/myfile.txt b/pygame/myfile.txt
new file mode 100644
index 0000000..5ab2f8a
--- /dev/null
+++ b/pygame/myfile.txt
@@ -0,0 +1 @@
+Hello
\ No newline at end of file

From a4252a4372671bf1e16a4ee76569d01be8985849 Mon Sep 17 00:00:00 2001
From: hell0w0rld2 <43834630+hell0w0rld2@users.noreply.github.com>
Date: Wed, 28 Nov 2018 20:17:36 -0700
Subject: [PATCH 2/4] Created spinning robot

---
 robot/robot/__pycache__/physics.cpython-37.pyc | Bin 0 -> 1454 bytes
 robot/robot/robot.py                           |  16 ++++++++++++++--
 2 files changed, 14 insertions(+), 2 deletions(-)
 create mode 100644 robot/robot/__pycache__/physics.cpython-37.pyc

diff --git a/robot/robot/__pycache__/physics.cpython-37.pyc b/robot/robot/__pycache__/physics.cpython-37.pyc
new file mode 100644
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diff --git a/robot/robot/robot.py b/robot/robot/robot.py
index d11cc62..a22eec7 100644
--- a/robot/robot/robot.py
+++ b/robot/robot/robot.py
@@ -6,16 +6,28 @@
 
 import wpilib
 import commandbased
-
+import ctre
 #main robot
 
+
+
 class MyRobot(commandbased.CommandBasedRobot):
-    pass
+    def robotInit(self):
+        self.motors = {}
+        self.motors['leftMotor'] = ctre.WPI_TalonSRX(0)
+        self.motors['rightMotor'] = ctre.WPI_TalonSRX(1)
 
 
 
 
 
+    def testInit(self):
+        print("Test Mode")
+        while self.isTest():
+            self.motors['leftMotor'].set(10)
+            self.motors['rightMotor'].set(10)
+        print("Test Done")    
+            
 
 
 

From 621ea2c63d568091261b99403acd134b3412a680 Mon Sep 17 00:00:00 2001
From: hell0w0rld2 <43834630+hell0w0rld2@users.noreply.github.com>
Date: Wed, 12 Dec 2018 18:35:29 -0700
Subject: [PATCH 3/4] Got robot moving again

---
 .../robot/__pycache__/physics.cpython-37.pyc  | Bin 1454 -> 1568 bytes
 robot/robot/__pycache__/robot.cpython-37.pyc  | Bin 0 -> 1148 bytes
 .../__pycache__/joystickDrive.cpython-37.pyc  | Bin 0 -> 1035 bytes
 robot/robot/commands/joystickDrive.py         |  22 +++++++++++
 robot/robot/physics.py                        |  15 +++++--
 robot/robot/robot.py                          |  37 +++++++++---------
 .../__pycache__/driveTrain.cpython-37.pyc     | Bin 0 -> 1650 bytes
 robot/robot/subsystems/driveTrain.py          |  34 ++++++++++++++++
 8 files changed, 86 insertions(+), 22 deletions(-)
 create mode 100644 robot/robot/__pycache__/robot.cpython-37.pyc
 create mode 100644 robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc
 create mode 100644 robot/robot/commands/joystickDrive.py
 create mode 100644 robot/robot/subsystems/__pycache__/driveTrain.cpython-37.pyc
 create mode 100644 robot/robot/subsystems/driveTrain.py

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diff --git a/robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc b/robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc
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diff --git a/robot/robot/commands/joystickDrive.py b/robot/robot/commands/joystickDrive.py
new file mode 100644
index 0000000..972525a
--- /dev/null
+++ b/robot/robot/commands/joystickDrive.py
@@ -0,0 +1,22 @@
+# -*- coding: utf-8 -*-
+
+from wpilib.command import Command
+
+class JoystickDrive(Command):
+    """
+    This command will reaad the joystick values that are used
+    to ocntrol the robot drive train and then set the drivetrain subsystem
+    """
+    
+    def __init__(self, robot):
+        super().__init__("Joystick Drive")
+        self.robot = robot
+        self.requires(self.robot.dtSub)
+        
+    def execute(self):
+        dc = self.robot.driveController  
+        leftSide = dc.getRawAxis(0)
+        rightSide = dc.getRawAxis(1)
+          
+        self.robot.dtSub.setTankDrive(leftSide, rightSide)
+        
\ No newline at end of file
diff --git a/robot/robot/physics.py b/robot/robot/physics.py
index 7d4fae6..01115aa 100644
--- a/robot/robot/physics.py
+++ b/robot/robot/physics.py
@@ -33,12 +33,19 @@ def update_sim(self, hal_data, now, tm_diff):
         # Simulate the drivetrain
         # -> Remember, in the constructor we inverted the left motors, so
         #    invert the motor values here too!
-        try: 
-            l_motor = -hal_data['CAN'][1]['value']
-            r_motor = -hal_data['CAN'][0]['value']
+        try:
+            if hal_data['CAN'][1]['inverted']:
+                l_motor = -hal_data['CAN'][1]['value']
+            else:
+                l_motor = hal_data['CAN'][1]['value']
             
-            #print(hal_data['CAN'])
+            if hal_data['CAN'][0]['inverted']:
+                r_motor = -hal_data['CAN'][0]['value']
+            else:
+                r_motor = hal_data['CAN'][0]['value']
             
+            #print(hal_data['CAN'])
+            tm_diff = tm_diff * 0.5
             speed,rot = drivetrains.two_motor_drivetrain(l_motor,r_motor)
             self.physics_controller.drive(speed,rot, tm_diff)
         except:
diff --git a/robot/robot/robot.py b/robot/robot/robot.py
index a22eec7..93a737c 100644
--- a/robot/robot/robot.py
+++ b/robot/robot/robot.py
@@ -6,29 +6,30 @@
 
 import wpilib
 import commandbased
-import ctre
-#main robot
 
 
-
-class MyRobot(commandbased.CommandBasedRobot):
-    def robotInit(self):
-        self.motors = {}
-        self.motors['leftMotor'] = ctre.WPI_TalonSRX(0)
-        self.motors['rightMotor'] = ctre.WPI_TalonSRX(1)
-
+import subsystems.driveTrain
 
 
 
-
-    def testInit(self):
-        print("Test Mode")
-        while self.isTest():
-            self.motors['leftMotor'].set(10)
-            self.motors['rightMotor'].set(10)
-        print("Test Done")    
-            
-
+class MyRobot(commandbased.CommandBasedRobot):
+    
+    def robotInit(self):
+        MyRobot.getRobot = lambda x=0:self
+        
+        self.dtSub = subsystems.driveTrain.DriveTrainSub(self)
+        self.driveController = wpilib.XboxController(0)
+
+#    def teleopInit(self):
+#        print("Test Mode")
+#        dc = self.driveController
+#        while self.isOperatorControl():
+#            leftSide = dc.getRawAxis(0)
+#            rightSide = dc.getRawAxis(1)
+#            
+#            self.dtSub.setTankDrive(leftSide, rightSide)
+#        
+#        print("Test Done")
 
 
 #code to help run the robot
diff --git a/robot/robot/subsystems/__pycache__/driveTrain.cpython-37.pyc b/robot/robot/subsystems/__pycache__/driveTrain.cpython-37.pyc
new file mode 100644
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diff --git a/robot/robot/subsystems/driveTrain.py b/robot/robot/subsystems/driveTrain.py
new file mode 100644
index 0000000..e066904
--- /dev/null
+++ b/robot/robot/subsystems/driveTrain.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+import wpilib
+
+from wpilib.command.subsystem import Subsystem
+import wpilib.drive.differentialdrive as dd
+import ctre
+import robot as robotPackage
+from commands.joystickDrive import JoystickDrive
+class DriveTrainSub(Subsystem):
+    '''
+    This is the subsystem to control the robot's wheels.
+    '''
+    
+    def __init__(self, robot):
+        '''Initilizes the subsystem, gets the motors, 
+        creates the drivetrain mixer'''
+        
+        super().__init__("DriveTrainSub")
+        self.robot = robot
+        #self.robot = robotPackage.MyRobot.getRobot()
+        self.driveMotors = {}
+        self.driveMotors['leftMotor'] = ctre.WPI_TalonSRX(0)
+        self.driveMotors['rightMotor'] = ctre.WPI_TalonSRX(1)
+        self.driveTrain = dd.DifferentialDrive(**self.driveMotors)
+        
+    def setTankDrive(self, leftSide, rightSide):
+        self.driveTrain.tankDrive(leftSide, rightSide)
+        
+    def setArcadeDrive(self, speed, rot):
+        self.driveTrain.arcadeDrive(speed, rot)
+        
+    def initDefaultCommand(self):
+        self.setDefaultCommand(JoystickDrive(self.robot))
+        
\ No newline at end of file

From e318df399cf208fcf9336aabdc0a0f9494354747 Mon Sep 17 00:00:00 2001
From: hell0w0rld2 <43834630+hell0w0rld2@users.noreply.github.com>
Date: Wed, 12 Dec 2018 18:53:31 -0700
Subject: [PATCH 4/4] IDK

---
 .../robot/__pycache__/physics.cpython-37.pyc  | Bin 1568 -> 0 bytes
 .../__pycache__/joystickDrive.cpython-37.pyc  | Bin 1035 -> 0 bytes
 robot/robot/commands/empty                    |   0
 robot/robot/commands/joystickDrive.py         |  22 -------
 robot/robot/motorHelper.py                    |   0
 robot/robot/physics.py                        |  55 ------------------
 .../__pycache__/driveTrain.cpython-37.pyc     | Bin 1650 -> 1650 bytes
 7 files changed, 77 deletions(-)
 delete mode 100644 robot/robot/__pycache__/physics.cpython-37.pyc
 delete mode 100644 robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc
 delete mode 100644 robot/robot/commands/empty
 delete mode 100644 robot/robot/commands/joystickDrive.py
 delete mode 100644 robot/robot/motorHelper.py
 delete mode 100644 robot/robot/physics.py

diff --git a/robot/robot/__pycache__/physics.cpython-37.pyc b/robot/robot/__pycache__/physics.cpython-37.pyc
deleted file mode 100644
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diff --git a/robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc b/robot/robot/commands/__pycache__/joystickDrive.cpython-37.pyc
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diff --git a/robot/robot/commands/empty b/robot/robot/commands/empty
deleted file mode 100644
index e69de29..0000000
diff --git a/robot/robot/commands/joystickDrive.py b/robot/robot/commands/joystickDrive.py
deleted file mode 100644
index 972525a..0000000
--- a/robot/robot/commands/joystickDrive.py
+++ /dev/null
@@ -1,22 +0,0 @@
-# -*- coding: utf-8 -*-
-
-from wpilib.command import Command
-
-class JoystickDrive(Command):
-    """
-    This command will reaad the joystick values that are used
-    to ocntrol the robot drive train and then set the drivetrain subsystem
-    """
-    
-    def __init__(self, robot):
-        super().__init__("Joystick Drive")
-        self.robot = robot
-        self.requires(self.robot.dtSub)
-        
-    def execute(self):
-        dc = self.robot.driveController  
-        leftSide = dc.getRawAxis(0)
-        rightSide = dc.getRawAxis(1)
-          
-        self.robot.dtSub.setTankDrive(leftSide, rightSide)
-        
\ No newline at end of file
diff --git a/robot/robot/motorHelper.py b/robot/robot/motorHelper.py
deleted file mode 100644
index e69de29..0000000
diff --git a/robot/robot/physics.py b/robot/robot/physics.py
deleted file mode 100644
index 01115aa..0000000
--- a/robot/robot/physics.py
+++ /dev/null
@@ -1,55 +0,0 @@
-#
-# See the notes for the other physics sample
-#
-
-
-from pyfrc.physics import drivetrains
-
-
-class PhysicsEngine(object):
-    '''
-       Simulates a 4-wheel mecanum robot using Tank Drive joystick control 
-    '''
-    
-    def __init__(self, physics_controller):
-        '''
-            :param physics_controller: `pyfrc.physics.core.Physics` object
-                                       to communicate simulation effects to
-        '''
-        
-        self.physics_controller = physics_controller
-        
-            
-    def update_sim(self, hal_data, now, tm_diff):
-        '''
-            Called when the simulation parameters for the program need to be
-            updated.
-            
-            :param now: The current time as a float
-            :param tm_diff: The amount of time that has passed since the last
-                            time that this function was called
-        '''
-        
-        # Simulate the drivetrain
-        # -> Remember, in the constructor we inverted the left motors, so
-        #    invert the motor values here too!
-        try:
-            if hal_data['CAN'][1]['inverted']:
-                l_motor = -hal_data['CAN'][1]['value']
-            else:
-                l_motor = hal_data['CAN'][1]['value']
-            
-            if hal_data['CAN'][0]['inverted']:
-                r_motor = -hal_data['CAN'][0]['value']
-            else:
-                r_motor = hal_data['CAN'][0]['value']
-            
-            #print(hal_data['CAN'])
-            tm_diff = tm_diff * 0.5
-            speed,rot = drivetrains.two_motor_drivetrain(l_motor,r_motor)
-            self.physics_controller.drive(speed,rot, tm_diff)
-        except:
-            l_motor = r_motor = 0
-            self.physics_controller.drive(0,0, tm_diff)
-        
-        #.mecanum_drivetrain(lr_motor, rr_motor, lf_motor, rf_motor,speed = 0.01)
\ No newline at end of file
diff --git a/robot/robot/subsystems/__pycache__/driveTrain.cpython-37.pyc b/robot/robot/subsystems/__pycache__/driveTrain.cpython-37.pyc
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