Madison branch intake ball

src/org/usfirst/frc/team708/robot/OI.java

@@ -6,11 +6,10 @@
 import edu.wpi.first.wpilibj.buttons.*;
 
 import org.usfirst.frc.team708.robot.commands.drivetrain.*;
+import org.usfirst.frc.team708.robot.commands.intake_ball.*;
 import org.usfirst.frc.team708.robot.commands.shooter.*;
 import org.usfirst.frc.team708.robot.commands.loader.*;
 
-//import org.team708.robot.commands.intake.*;
-
 import org.usfirst.frc.team708.robot.commands.visionProcessor.*;
 
 import org.usfirst.frc.team708.robot.util.Gamepad;
@@ -89,9 +88,9 @@ public OI() {
 		 * Driver Commands to be called by button
 		 */
 //		intakeGearIn.whileHeld(new IntakeGearIn());
-//		intakeBallIn.whileHeld(new IntakeBallIn());
+		intakeBallIn.whileHeld(new Intake_Ball_In());
 //		intakeGearOut.whileActive(new IntakeGearOut());
-//		intakeBallOut.whileActive(new IntakeBallOut());
+		intakeBallOut.whileActive(new Intake_Ball_Out());
 
 //		sonarOverride.whenPressed(new SonarOverride());
 //		

src/org/usfirst/frc/team708/robot/Robot.java

@@ -18,15 +18,17 @@
 import org.usfirst.frc.team708.robot.subsystems.Drivetrain;
 import org.usfirst.frc.team708.robot.subsystems.Shooter;
 import org.usfirst.frc.team708.robot.subsystems.Loader;
-import org.usfirst.frc.team.708.robot.subsystems.Intake_Ball;
-import org.usfirst.frc.team.708.robot.subsystems.Intake_Gear;
-import org.usfirst.frc.team.708.robot.subsystems.Climber;
+import org.usfirst.frc.team708.robot.subsystems.Intake_Ball;
+//import org.usfirst.frc.team.708.robot.subsystems.Intake_Gear;
+//import org.usfirst.frc.team.708.robot.subsystems.Climber;
 
 import org.usfirst.frc.team708.robot.OI;
 
 import org.usfirst.frc.team708.robot.subsystems.VisionProcessor;
 import org.usfirst.frc.team708.robot.commands.drivetrain.*;
 import org.usfirst.frc.team708.robot.commands.loader.*;
+import org.usfirst.frc.team708.robot.commands.intake_ball.*;
+
 import org.usfirst.frc.team708.robot.commands.autonomous.*;
 
 //sue's comment
@@ -46,9 +48,9 @@ public class Robot extends IterativeRobot {
     public static Drivetrain 		drivetrain;
     public static Shooter	 		shooter;
     public static Loader	 		loader;
-    public static Intake_Ball		Intake_Ball;
-    public static Intake_Gear		Intake_Gear;
-    public static Climber			Climber;
+    public static Intake_Ball		intake_ball;
+   // public static Intake_Gear		intake_gear;
+   // public static Climber			Climber;
 
 	public static VisionProcessor 	visionProcessor;
 
@@ -76,9 +78,9 @@ public void robotInit() {
     drivetrain 		= new Drivetrain();
     shooter			= new Shooter();
     loader			= new Loader();
-    Intake_Gear		= new Intake_Gear();
-    Intake_Ball		= new Intake_Ball();
-    Climber			= new Climber();
+   // Intake_Gear	= new Intake_Gear();
+    intake_ball		= new Intake_Ball();
+   // Climber		= new Climber();
 
 	oi 				= new OI();		// Initializes the OI. 
 									// This MUST BE LAST or a NullPointerException will be thrown
@@ -166,9 +168,9 @@ private void sendStatistics() {
             drivetrain.sendToDashboard();
             loader.sendToDashboard();
             shooter.sendToDashboard();
-            Intake_Ball.sendToDashboard();
-            Intake_Gear.sendToDashboard();
-            Climber.sendToDashbaord();
+            intake_ball.sendToDashboard();
+          //  Intake_Gear.sendToDashboard();
+          //  Climber.sendToDashbaord();
 
 //            visionProcessor.sendToDashboard();
         }
@@ -194,9 +196,9 @@ private void sendDashboardSubsystems() {
     	SmartDashboard.putData(shooter);
     	SmartDashboard.putData(loader);
     	SmartDashboard.putData(drivetrain);
-    	SmartDashboard.putData(Intake_Ball);
-    	SmartDashboard.putData(Intake_Gear);
-    	SmartDashboard.putData(Climber);
+    	SmartDashboard.putData(intake_ball);
+    	//SmartDashboard.putData(Intake_Gear);
+    	//SmartDashboard.putData(Climber);
     }
 }
 

src/org/usfirst/frc/team708/robot/commands/intake/IntakeIn.java

@@ -0,0 +1,5 @@
+package org.usfirst.frc.team708.robot.commands.intake;
+
+public class IntakeIn {
+
+}

src/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_In.java

@@ -0,0 +1,42 @@
+package org.usfirst.frc.team708.robot.commands.intake_ball;
+
+import org.usfirst.frc.team708.robot.Constants;
+import org.usfirst.frc.team708.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class Intake_Ball_In extends Command {
+
+	public Intake_Ball_In() {
+
+		requires(Robot.intake_ball);
+	}
+
+	protected void initialize() {
+
+	}
+
+	protected void execute() {
+
+		Robot.intake_ball.moveMotor(Constants.INTAKE_FORWARD);
+	}
+
+
+	protected boolean isFinished() {
+
+		return(false);
+	}
+
+	protected void end() {
+
+		Robot.intake_ball.stop();
+
+	}
+
+	protected void interrupted() {
+
+		end();
+	}
+
+}
+

src/org/usfirst/frc/team708/robot/commands/intake_ball/Intake_Ball_Out.java

@@ -0,0 +1,40 @@
+package org.usfirst.frc.team708.robot.commands.intake_ball;
+
+import org.usfirst.frc.team708.robot.Constants;
+import org.usfirst.frc.team708.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+
+public class Intake_Ball_Out extends Command {
+
+public Intake_Ball_Out() {
+
+	requires(Robot.intake_ball);
+}
+
+protected void initialize() {
+
+}
+
+protected void execute() {
+
+	Robot.intake_ball.moveMotor(Constants.INTAKE_REVERSE);
+}
+
+
+protected boolean isFinished() {
+
+	return(false);
+}
+
+protected void end() {
+
+	Robot.intake_ball.stop();
+
+}
+
+protected void interrupted() {
+
+	end();
+}
+
+}

src/org/usfirst/frc/team708/robot/commands/intake_ball/ManualIntake_Ball.java

@@ -0,0 +1,59 @@
+package org.usfirst.frc.team708.robot.commands.intake_ball;
+
+import org.usfirst.frc.team708.robot.Constants;
+import org.usfirst.frc.team708.robot.OI;
+import org.usfirst.frc.team708.robot.Robot;
+import org.usfirst.frc.team708.robot.util.Gamepad;
+import edu.wpi.first.wpilibj.command.Command;
+
+
+public class ManualIntake_Ball extends Command {
+
+	 public ManualIntake_Ball() {
+	    	requires(Robot.loader);
+	    }
+
+
+	    // Called just before this Command runs the first time
+	    protected void initialize() {
+
+	    }
+
+	    // Called repeatedly when this Command is scheduled to run
+	    protected void execute() {
+
+	    	boolean R_Shoulderpressed = OI.operatorGamepad.getButton(Gamepad.button_R_Shoulder);
+	    	boolean AxisRightpressed = OI.operatorGamepad.getButton(Gamepad.shoulderAxisRight);
+
+	//  LOADER_IN_BUTTON 	= Gamepad.Button_R_Shoulder;
+	//  LOADER_OUT_BUTTON 	= Gamepad.shoulderAxisRight;
+
+	    	if (R_Shoulderpressed == true){
+	    		Robot.intake_ball.moveMotor(Constants.INTAKE_FORWARD);
+	    	}
+	    	else
+	    	if (AxisRightpressed == true){
+	    		Robot.intake_ball.moveMotor(Constants.INTAKE_REVERSE);
+	    	}
+	    	else {
+	    		Robot.intake_ball.moveMotor(Constants.INTAKE_OFF);
+	    	}
+
+	    }
+
+	    // Make this return true when this Command no longer needs to run execute()
+	    protected boolean isFinished() {
+	    	return(false);
+	    }
+
+	    // Called once after isFinished returns true
+	    protected void end() {
+	    	Robot.intake_ball.stop();
+	    }
+
+	    // Called when another command which requires one or more of the same
+	    // subsystems are scheduled to run
+	    protected void interrupted() {
+	    	end();
+	    }
+}

src/org/usfirst/frc/team708/robot/subsystems/Intake.java → src/org/usfirst/frc/team708/robot/subsystems/Intake_Ball.java

@@ -1,39 +1,48 @@
 package org.usfirst.frc.team708.robot.subsystems;
 
 import org.usfirst.frc.team708.robot.Constants;
+import org.usfirst.frc.team708.robot.RobotMap;
+
+import com.ctre.CANTalon;
+
 //import org.usfirst.frc.team708.robot.RobotMap;
 //import edu.wpi.first.wpilibj.Relay;
 //import edu.wpi.first.wpilibj.Relay.Value;
 //import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 //import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 /**
  * Subsystem that intakes balls
- * @author James_Makovics
- * @author Michael_Steinberg
- * @author Thomas Zhao
- * @author Alex Tysak
+ * @author Madison
+ * @author Nick
  */
 
-public class Intake extends Subsystem {
-
-    /**
-      * Constructor
-      */
-	public Intake() {
+public class Intake_Ball extends Subsystem {
 
+    private CANTalon intakeMotor;
+
+	//I'm trying to link the right motor to the intake code here
+	public Intake_Ball() {
+
+		intakeMotor = new CANTalon (RobotMap.intakeMotorBall);
+
 	}
 
 	public void initDefaultCommand() {
 
     }
 
+	//I believe this sets the speed of the motor
 	public void moveMotor(double speed) {
 
+		intakeMotor.set(speed);
 	}
-
+	//I believe this stops the motor
 	public void stop(){
 
+		intakeMotor.set(Constants.INTAKE_OFF);
+
 	}
 
     /**