Fully tested.

.classpath

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="PowerUp2018/src"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

.gitignore

@@ -20,3 +20,4 @@
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
+/bin/

.project

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>2018-PowerUp-BackupDesign</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

PowerUp2018/.classpath

@@ -6,6 +6,10 @@
 	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
 	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
+	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar"/>
 	<classpathentry kind="var" path="USERLIBS_DIR/navx_frc.jar"/>
+	<classpathentry kind="lib" path="C:/Users/Bot Central/wpilib/user/java/lib/CTRE_Phoenix.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

PowerUp2018/src/org/usfirst/frc/team6071/robot/Robot.java

@@ -1,42 +1,160 @@
 /* 
+
  * Power Up 2018.
- * Version 0.0 
+ * Version 0.1.3
+
  */
 
 package org.usfirst.frc.team6071.robot;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.Spark;
-
-
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
 
 	// Common Variables
-	final int joystickLeftPort = 0;
-	final int joystickRightPort = 1;
-
-	final Spark motorLeft0 = new Spark(0);
-	final Spark motorLeft1 = new Spark(1);
-	final Spark motorLeft2 = new Spark(2);
-	final Spark motorLeft3 = new Spark(3);
-
-	// Auton Variables.
+	final Spark mtrLeft = new Spark(1); // Left side gearbox controller.
+	final Spark mtrRight = new Spark(0); // Right side gearbox controller.
+	final Talon mtrLeftBox = new Talon(8);
+	final Talon mtrRightBox = new Talon(9);
 
+	final TalonSRX mtrElev = new TalonSRX(10);
+	final TalonSRX mtrArmRaise = new TalonSRX(20);
 
 
-	// TeleOp Variables.
+	final Encoder encMtrLeft = new Encoder(8, 9, false, Encoder.EncodingType.k4X); // Left side gearbox encoder.
+	final Encoder encMtrRight = new Encoder(6, 7, false, Encoder.EncodingType.k4X); // Right side gearbox encoder
 
+	// Auton Variables.
+	public int staNumber = 1; 
+	public String arcadeLayout;
+	public boolean isOverride = false;
+	public String orChosenAuto;
 
+	public Timer timeAuto = new Timer();
+	public double autoMaxTime = 1.75D;
 
+	//Auton Choices
+	SendableChooser<String> chooser = new SendableChooser<>();
+	final String autoOverrideDisable = "Don't override";
+	boolean stepOne = true;
+	boolean stepTwo = false;
+	boolean stepThree = false;
+	boolean isDone = false;
 
+	// TeleOp Variables. 
+
+	public Joystick leftJoy = new Joystick(0);
+	public Joystick rightJoy = new Joystick(1);
 
+	public void disabledInit() {
+		System.out.println("Josh is disabled.");
+	}
 
 	@Override
 	public void robotInit() {
+		encMtrLeft.setMaxPeriod(.1); // Sets the max amount of time (seconds) in which it deems the motor still moving.
+		encMtrLeft.setMinRate(10); // Sets the minimum amount of ticks in which it deems the motor stopped.
+		encMtrLeft.setDistancePerPulse(5); // Just, it's a number. I don't really get it tbh...
+		encMtrLeft.setReverseDirection(true); // Says if the encoder reads a backwards revolution as a positive or negative number.
+		encMtrLeft.setSamplesToAverage(7); // Again, don't entirely get it. So, yeah. Just make sure it's there.
 
+		encMtrRight.setMaxPeriod(.1);
+		encMtrRight.setMinRate(10);
+		encMtrRight.setDistancePerPulse(5);
+		encMtrRight.setReverseDirection(true);
+		encMtrRight.setSamplesToAverage(7);
+	}	
+
+	@Override
+	public void autonomousInit() {
+		encMtrLeft.reset();
+		encMtrRight.reset();
+		timeAuto.start();
+	}
+
+	@Override
+	public void autonomousPeriodic() {
+		if(timeAuto.get() < autoMaxTime) {
+			mtrLeft.set(50);
+			mtrRight.set(-50);
+		}
+		else {
+			mtrRight.set(0);
+			mtrLeft.set(0);
+		}
 	}
 
+
+	@Override
+	public void teleopInit() {
+	}
+
+	@Override 
+    public void teleopPeriodic() {
+    	double leftJoyVal = leftJoy.getRawAxis(1); // Gets the y position's value from the left joystick.
+		double rightJoyVal = rightJoy.getRawAxis(1); // Gets the x position's value from the right joystick.
+
+		mtrRightBox.setInverted(true);
+
+		System.out.println("Left drivetrain: " + encMtrLeft.getRaw());
+		System.out.println("Right drivetrain: " + encMtrRight.getRaw());
+
+		// Drive 
+		mtrLeft.setSpeed(-leftJoyVal);
+		mtrRight.setSpeed(rightJoyVal);
+
+		// Box input
+		if(leftJoy.getRawButton(1)){
+			mtrRightBox.set(25);
+			mtrLeftBox.set(25);
+		}
+		else if(rightJoy.getRawButton(1)){
+			mtrRightBox.set(-25);
+			mtrLeftBox.set(-25);;
+		}
+		else{
+			mtrRightBox.set(0);
+			mtrLeftBox.set(0);
+		}
+
+		//Box height
+		if(leftJoy.getRawButton(6)) {
+			mtrArmRaise.set(ControlMode.PercentOutput, 50);
+		}		
+		else if(leftJoy.getRawButton(4)) {
+			mtrArmRaise.set(ControlMode.PercentOutput, -50);
+		}
+		else {	
+			mtrArmRaise.set(ControlMode.PercentOutput, 0);
+		}
+
+		//Elevator height
+		if(rightJoy.getRawButton(5)) {
+			mtrElev.set(ControlMode.PercentOutput, 50);
+		}
+		else if(rightJoy.getRawButton(3)) {
+			mtrElev.set(ControlMode.PercentOutput, -50);
+		}
+		else{
+			mtrElev.set(ControlMode.PercentOutput, 0);
+		}
+
+
+    }
 
 }