New auto shooting code

FRC_Robot2.0/.classpath

@@ -12,7 +12,7 @@
 	<classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
 	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
 	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
-	<classpathentry kind="var" path="USERLIBS_DIR/TalonSRXLibJava.jar"/>
 	<classpathentry kind="var" path="USERLIBS_DIR/navx_frc.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRLib.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

FRC_Robot2.0/src/org/usfirst/frc/team2557/robot/Robot.java

@@ -46,9 +46,11 @@ public class Robot extends IterativeRobot {
 	public static final Acceleration_sub 	accel		= new Acceleration_sub();
 	public static final SmartDashboard_sub  dashboard 	= new SmartDashboard_sub();
 	public static OI oi;
+
 
 
 	Command _baseline;
+	Command Main_auto;
 //	Command autonomousCommand;
 //	SendableChooser<Command> chooser = new SendableChooser<>();
 
@@ -62,6 +64,7 @@ public void robotInit() {
 		CameraServer.getInstance().startAutomaticCapture();
 
 		_baseline = new Autonomous_Baseline();
+		Main_auto = new Main_auto();
 
 		oi = new OI();
 		oi.init();
@@ -102,7 +105,8 @@ public void disabledPeriodic() {
 	public void autonomousInit() {
 //		autonomousCommand = chooser.getSelected();
 
-		_baseline.start();
+		//_baseline.start();
+//		Main_auto.start();
 
 		/*
 		 * String autoSelected = SmartDashboard.getString("Auto Selector",
@@ -112,8 +116,8 @@ public void autonomousInit() {
 		 */
 
 		// schedule the autonomous command (example)
-//		if (autonomousCommand != null)
-//			autonomousCommand.start();
+		if (Main_auto != null)
+			Main_auto.start();
 	}
 
 	/**
@@ -130,8 +134,8 @@ public void teleopInit() {
 		// teleop starts running. If you want the autonomous to
 		// continue until interrupted by another command, remove
 		// this line or comment it out.
-//		if (autonomousCommand != null)
-//			autonomousCommand.cancel();
+		if (Main_auto != null)
+			Main_auto.cancel();
 	}
 
 	/**

FRC_Robot2.0/src/org/usfirst/frc/team2557/robot/autonomous/Auto_Shooter2.java

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team2557.robot.autonomous;
+
+import org.usfirst.frc.team2557.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+/**
+ *
+ */
+public class Auto_Shooter2 extends TimedCommand {
+
+    public Auto_Shooter2(double timeout) {
+    	super(timeout);
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	RobotMap.Lshooter.set(-.675);
+    	RobotMap.Rshooter.set(.675);
+    	RobotMap.copterAgitator.set(1);
+    	RobotMap.agitator.set(-.65);
+    	RobotMap.intake.set(.65);
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+	    RobotMap.Lshooter.set(0);
+	    RobotMap.Rshooter.set(0);
+		RobotMap.copterAgitator.set(0);
+		RobotMap.agitator.set(0);
+		RobotMap.intake.set(0);
+
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

FRC_Robot2.0/src/org/usfirst/frc/team2557/robot/autonomous/Autonomus_Shooter.java

@@ -0,0 +1,42 @@
+package org.usfirst.frc.team2557.robot.autonomous;
+
+import org.usfirst.frc.team2557.robot.RobotMap;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+/**
+ *
+ */
+public class Autonomus_Shooter extends TimedCommand {
+
+
+
+    public Autonomus_Shooter(double timeout) {
+    	super(timeout);
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+
+
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	RobotMap.Lshooter.set(-.675);
+    	RobotMap.Rshooter.set(.675);
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

FRC_Robot2.0/src/org/usfirst/frc/team2557/robot/autonomous/Main_auto.java

@@ -8,6 +8,11 @@
 public class Main_auto extends CommandGroup {
 
     public Main_auto() {
+
+    	addSequential(new TimedDrive(1.4,false,.75));
+    	addSequential(new TimedDrive(.5,true, .75));
+    	addParallel(new Autonomus_Shooter(.5));
+    	addSequential(new Auto_Shooter2(10));
         // Add Commands here:
         // e.g. addSequential(new Command1());
         //      addSequential(new Command2());