Merged David's code into master, basic implementation of velocityPID class(es)

.gitignore

@@ -2,3 +2,5 @@ bin/
 build/
 dist/
 .DS_Store
+*auto*
+*Auto*

Robot2018/.classpath

@@ -13,5 +13,19 @@
 	<classpathentry kind="lib" path="lib/mockito-core-2.13.3.jar"/>
 	<classpathentry kind="lib" path="lib/byte-buddy-1.7.9.jar"/>
 	<classpathentry kind="lib" path="lib/objenesis-2.6.jar"/>
+	<classpathentry kind="lib" path="lib/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="lib" path="lib/CTRE_Phoenix.jar"/>
+
+	<classpathentry kind="lib" path="lib/cscore-sources.jar"/>
+	<classpathentry kind="lib" path="lib/cscore.jar"/>
+	<classpathentry kind="lib" path="lib/navx_frc.jar"/>
+	<classpathentry kind="lib" path="lib/ntcore-sources.jar"/>
+	<classpathentry kind="lib" path="lib/ntcore.jar"/>
+	<classpathentry kind="lib" path="lib/opencv-sources.jar"/>
+	<classpathentry kind="lib" path="lib/opencv.jar"/>
+	<classpathentry kind="lib" path="lib/WPILib-sources.jar"/>
+	<classpathentry kind="lib" path="lib/WPILib.jar"/>
+	<classpathentry kind="lib" path="lib/wpiutil-sources.jar"/>
+	<classpathentry kind="lib" path="lib/wpiutil.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

Robot2018/src/org/usfirst/frc/team199/Robot2018/Listener.java

@@ -0,0 +1,52 @@
+package org.usfirst.frc.team199.Robot2018;
+
+import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
+import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
+
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableValue;
+import edu.wpi.first.networktables.TableEntryListener;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+
+public class Listener implements TableEntryListener {
+
+	private void addCommand(Command com) {
+		Scheduler.getInstance().add(com);
+	}
+
+	@Override
+	public void valueChanged(NetworkTable arg0, String arg1, NetworkTableEntry arg2, NetworkTableValue arg3, int arg4) {
+		if(arg4 == EntryListenerFlags.kNew) return;
+		switch (arg1) {
+		case "Const/Distance Per Pulse Left":
+			addCommand(new SetDistancePerPulse());
+			break;
+		case "Const/Distance Per Pulse Right":
+			addCommand(new SetDistancePerPulse());
+			break;
+		case "Const/TurnkP":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/TurnkI":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/TurnkD":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekP":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekI":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekD":
+			addCommand(new UpdatePIDConstants());
+			break;
+
+		}
+	}
+
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/OI.java

@@ -1,6 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.usfirst.frc.team199.Robot2018;
 
-import edu.wpi.first.wpilibj.buttons.Button;
+import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
+import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
+import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
+import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
+import org.usfirst.frc.team199.Robot2018.commands.ShiftHighGear;
+import org.usfirst.frc.team199.Robot2018.commands.ShiftLowGear;
+import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -34,4 +51,44 @@ public class OI {
 	// Start the command when the button is released and let it run the command
 	// until it is finished as determined by it's isFinished method.
 	// button.whenReleased(new ExampleCommand());
+
+	public Joystick leftJoy;
+	private JoystickButton shiftLowGear;
+	private JoystickButton shiftHighGear;
+	private JoystickButton shiftDriveType;
+	private JoystickButton PIDMove;
+	private JoystickButton PIDTurn;
+	public Joystick rightJoy;
+	private JoystickButton updatePidConstants;
+	private JoystickButton updateEncoderDPP;
+	public Joystick manipulator;
+
+	public int getButton(String key, int def) {
+		if (!SmartDashboard.containsKey("Button/" + key)) {
+			SmartDashboard.putNumber("Button/" + key, def);
+		}
+		return (int) SmartDashboard.getNumber("Button/" + key, def);
+	}
+
+	public OI() {
+		leftJoy = new Joystick(0);
+		shiftLowGear = new JoystickButton(leftJoy, getButton("Shift Low Gear", 3));
+		shiftLowGear.whenPressed(new ShiftLowGear());
+		shiftHighGear = new JoystickButton(leftJoy, getButton("Shift High Gear", 5));
+		shiftHighGear.whenPressed(new ShiftHighGear());
+		shiftDriveType = new JoystickButton(leftJoy, getButton("Shift Drive Type", 2));
+		shiftDriveType.whenPressed(new ShiftDriveType());
+		PIDMove = new JoystickButton(leftJoy, getButton("PID Move", 7));
+		PIDMove.whenPressed(new PIDMove(40, Robot.dt));
+		PIDTurn = new JoystickButton(leftJoy, getButton("PID Turn", 8));
+		PIDTurn.whenPressed(new PIDTurn(30, Robot.dt));
+
+		rightJoy = new Joystick(1);
+		updatePidConstants = new JoystickButton(rightJoy, getButton("Get PID Constants", 8));
+		updatePidConstants.whenPressed(new UpdatePIDConstants());
+		updateEncoderDPP = new JoystickButton(rightJoy, getButton("Get Encoder Dist Per Pulse", 9));
+		updateEncoderDPP.whenPressed(new SetDistancePerPulse());
+
+		manipulator = new Joystick(2);
+	}
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/Robot.java

@@ -3,14 +3,15 @@
 
 import org.usfirst.frc.team199.Robot2018.subsystems.Climber;
 import org.usfirst.frc.team199.Robot2018.subsystems.ClimberAssist;
+import org.usfirst.frc.team199.Robot2018.subsystems.Drivetrain;
 import org.usfirst.frc.team199.Robot2018.subsystems.IntakeEject;
+import org.usfirst.frc.team199.Robot2018.subsystems.LeftDrive;
 import org.usfirst.frc.team199.Robot2018.subsystems.Lift;
+import org.usfirst.frc.team199.Robot2018.subsystems.RightDrive;
 
-import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -22,31 +23,60 @@
  * directory.
  */
 public class Robot extends TimedRobot {
-
-	public static final Climber climber = new Climber();
-	public static final ClimberAssist climberAssist = new ClimberAssist();
-	public static final IntakeEject intakeEject = new IntakeEject();
-	public static final Lift lift = new Lift();
+
+	public static Climber climber;
+	public static ClimberAssist climberAssist;
+	public static IntakeEject intakeEject;
+	public static Lift lift;
+	public static RobotMap rmap;
+	public static Drivetrain dt;
+	public static LeftDrive ld;
+	public static RightDrive rd;
+	public static Listener listen;
+
 	public static OI oi;
 
 	Command autonomousCommand;
 	SendableChooser<Command> chooser = new SendableChooser<>();
 
+	public static double getConst(String key, double def) {
+		if (!SmartDashboard.containsKey("Const/" + key)) {
+			SmartDashboard.putNumber("Const/" + key, def);
+		}
+		return SmartDashboard.getNumber("Const/" + key, def);
+	}
+
+	public static boolean getBool(String key, boolean def) {
+		if (!SmartDashboard.containsKey("Bool/" + key)) {
+			SmartDashboard.putBoolean("Bool/" + key, def);
+		}
+		return SmartDashboard.getBoolean("Bool/" + key, def);
+	}
+
 	/**
-	 * This function is run when the robot is first started up and should be
-	 * used for any initialization code.
+	 * This function is run when the robot is first started up and should be used
+	 * for any initialization code.
 	 */
 	@Override
 	public void robotInit() {
+		rmap = new RobotMap();
+		climber = new Climber();
+		climberAssist = new ClimberAssist();
+		intakeEject = new IntakeEject();
+		lift = new Lift();
+		dt = new Drivetrain();
+		ld = new LeftDrive();
+		rd = new RightDrive();
 		oi = new OI();
+		listen = new Listener();
 		// chooser.addObject("My Auto", new MyAutoCommand());
 		SmartDashboard.putData("Auto mode", chooser);
 	}
 
 	/**
-	 * This function is called once each time the robot enters Disabled mode.
-	 * You can use it to reset any subsystem information you want to clear when
-	 * the robot is disabled.
+	 * This function is called once each time the robot enters Disabled mode. You
+	 * can use it to reset any subsystem information you want to clear when the
+	 * robot is disabled.
 	 */
 	@Override
 	public void disabledInit() {
@@ -60,24 +90,24 @@ public void disabledPeriodic() {
 
 	/**
 	 * 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 code to get the auto name from the text box below the Gyro
+	 * 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 code to get the
+	 * auto name from the text box below the Gyro
 	 *
 	 * You can add additional auto modes by adding additional commands to the
-	 * chooser code above (like the commented example) or additional comparisons
-	 * to the switch structure below with additional strings & commands.
+	 * chooser code above (like the commented example) or additional comparisons to
+	 * the switch structure below with additional strings & commands.
 	 */
 	@Override
 	public void autonomousInit() {
 		autonomousCommand = chooser.getSelected();
 
 		/*
-		 * String autoSelected = SmartDashboard.getString("Auto Selector",
-		 * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
-		 * = new MyAutoCommand(); break; case "Default Auto": default:
-		 * autonomousCommand = new ExampleCommand(); break; }
+		 * String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
+		 * switch(autoSelected) { case "My Auto": autonomousCommand = new
+		 * MyAutoCommand(); break; case "Default Auto": default: autonomousCommand = new
+		 * ExampleCommand(); break; }
 		 */
 
 		// schedule the autonomous command (example)