Updated main file

AlacranPre2015/src/edu/wpi/first/wpilibj/templates/Alacran.java

@@ -0,0 +1,102 @@
+package edu.wpi.first.wpilibj.templates;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.Watchdog;
+
+public class Alacran extends IterativeRobot {
+
+    Joystick leftJoy, rightJoy;
+    Joystick xBox1;
+
+    Jaguar left, right;
+    RobotDrive am14u;
+
+    Compressor compressor;
+    Solenoid catapult, hook, raiseClaws, lowerClaws, openClaws;
+
+    public Alacran() {        
+        //Motor Controllers and Drive Train
+        left = new Jaguar(3);
+        right = new Jaguar(2);
+        am14u = new RobotDrive(left, right);
+
+        //Joysticks
+        leftJoy = new Joystick(1);
+        rightJoy = new Joystick(2);
+        xBox1 = new Joystick(3);
+
+        //Compressor
+        compressor = new Compressor(1, 2);
+
+        //Solenoids
+        catapult = new Solenoid(1);
+        hook = new Solenoid(2);
+        raiseClaws = new Solenoid(3);
+        lowerClaws = new Solenoid(4);
+        openClaws = new Solenoid(5);
+    }
+
+    public void robotInit() {
+        //Invert motors for mechanical reasons
+        //am14u.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, true);
+        //am14u.setInvertedMotor(RobotDrive.MotorType.kFrontRight, true);
+    }
+
+    public void teleopInit(){
+
+    }
+
+    public void teleopPeriodic() {        
+        //Start compressor+pressure switch
+        compressor.start();
+
+        while(isOperatorControl() && isEnabled()){            
+            //Feed watchdog for safety
+            Watchdog.getInstance().feed();
+
+            //Drive chassis
+            //am14u.arcadeDrive(leftJoy);
+            am14u.arcadeDrive(leftJoy.getAxis(Joystick.AxisType.kY), -leftJoy.getAxis(Joystick.AxisType.kX));
+
+
+            //Control claws - open/close
+            if(xBox1.getRawButton(3) && !xBox1.getRawButton(2)){
+                openClaws.set(true);
+            }
+            else if(!xBox1.getRawButton(3) && xBox1.getRawButton(2)){
+                openClaws.set(false);
+            }
+
+            //Control claws - raise/lower
+            if(xBox1.getRawButton(1) && !xBox1.getRawButton(4)){
+                lowerClaws.set(false);
+                raiseClaws.set(true);
+            }
+            else if(!xBox1.getRawButton(1) && xBox1.getRawButton(4)){
+                raiseClaws.set(false);
+                lowerClaws.set(true);
+            }
+
+            //Catapult - main pistons
+            if(xBox1.getRawButton(7) && !xBox1.getRawButton(8)){
+                catapult.set(true);
+            }
+            else if(!xBox1.getRawButton(7) && xBox1.getRawButton(8)){
+                catapult.set(false);
+            }
+
+            //Catapult - hook
+            if(xBox1.getRawButton(5) && !xBox1.getRawButton(6)){
+                hook.set(true);
+            }
+            else if(!xBox1.getRawButton(5) && xBox1.getRawButton(6)){
+                hook.set(false);
+            }
+        }        
+    }
+}