Robot.java

package org.usfirst.frc.team4674.robot;

import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the build.properties file in the
* project.
*/
public class Robot extends TimedRobot {
   private static final String kDefaultAuto = "Default";
   private static final String kCustomAuto = "My Auto";
   private String m_autoSelected;
   private SendableChooser<String> m_chooser = new SendableChooser<>();
   private Timer AutoTimer;

TankDrive chassis = new TankDrive(); // added this (1), getting an instance of the tank drive class made in the other file in this project

/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
@Override
public void robotInit() {
	m_chooser.addDefault("Default Auto", kDefaultAuto);
	m_chooser.addObject("My Auto", kCustomAuto);
	SmartDashboard.putData("Auto choices", m_chooser);

	chassis.init(); // added this (2), initializing joystick controllers, motors, speed controller groups, and differential drive.

	UsbCamera camera0 = CameraServer.getInstance().startAutomaticCapture(0);
	UsbCamera camera1 = CameraServer.getInstance().startAutomaticCapture(1);
	// Create timer for auto
	AutoTimer= new Timer();
}

/**
 * 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 line to get the auto name from the text box below the Gyro
 *
 * <p>You can add additional auto modes by adding additional comparisons to
 * the switch structure below with additional strings. If using the
 * SendableChooser make sure to add them to the chooser code above as well.
 */
@Override
public void autonomousInit() {
	//		m_autoSelected = m_chooser.getSelected();
	// m_autoSelected = SmartDashboard.getString("Auto Selector",
	// 		kDefaultAuto);
	//		System.out.println("Auto selected: " + m_autoSelected);
	AutoTimer.reset();
	AutoTimer.start();
}

/**
 * This function is called periodically during autonomous.
 */
@Override
public void autonomousPeriodic() {
	if (AutoTimer.get() <= 6) {

		chassis.roboDrive.tankDrive(-0.5, -0.5);

	} else {

		chassis.roboDrive.tankDrive(0, 0);

		AutoTimer.stop();
	}
	/*switch (m_autoSelected) {
		case kCustomAuto:
			chassis.auto();
			break;
		case kDefaultAuto:
		default:
			// Put default auto code here
			break;
	}  commented out */

}

/**
 * This function is called periodically during operator control.
 */
@Override
public void teleopPeriodic() {
	chassis.run(); // added this (3). running safety features and accessing values in xbox controller with individual joysticks on it.
}

/**
 * This function is called periodically during test mode.
 */
@Override
public void testPeriodic() {
}
}

TankDrive.java

package org.usfirst.frc.team4674.robot;

//imports

import edu.wpi.first.wpilibj.XboxController;

//import edu.wpi.first.wpilibj.Joystick;

import edu.wpi.first.wpilibj.SpeedControllerGroup;

import edu.wpi.first.wpilibj.Timer;

import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;

import edu.wpi.first.wpilibj.drive.DifferentialDrive;

import edu.wpi.first.wpilibj.Compressor;

import edu.wpi.first.wpilibj.Solenoid;

public class TankDrive {

// instance variables

XboxController xbox;

WPI_TalonSRX RRearWheel; // Defining all eight motors
WPI_TalonSRX RFrontWheel;
WPI_TalonSRX LRearWheel;
WPI_TalonSRX LFrontWheel;
WPI_TalonSRX RArm;
WPI_TalonSRX LArm;
WPI_TalonSRX RIntake;
WPI_TalonSRX LIntake;
Compressor Cramp;
Solenoid Valve1;
Solenoid Valve2;

SpeedControllerGroup left; // Defining controllers of certain sides of motors
SpeedControllerGroup right;

SpeedControllerGroup Arm; // moves both motors that controls the arm.

SpeedControllerGroup Collector;

DifferentialDrive roboDrive; // Defines a drive that controls both speed controllers

double speedChk; // Defines variable that changes the sensitivity of the robot controls in roboDrive during the run() method.

boolean flag = true;

boolean btnChk = true;

// methods

public void init() {

	xbox = new XboxController(3);

	RRearWheel = new WPI_TalonSRX(0); // right rear wheel
	RFrontWheel = new WPI_TalonSRX(1); // right front wheel
	LRearWheel = new WPI_TalonSRX(2); // left rear wheel
	LFrontWheel = new WPI_TalonSRX(3); // left front wheel
	RArm = new WPI_TalonSRX(4); // right arm
	LArm = new WPI_TalonSRX(5); // left arm
	RIntake = new WPI_TalonSRX(6); // right intake
	LIntake = new WPI_TalonSRX(7); // left intake
	Cramp = new Compressor(20);
	Valve1 = new Solenoid(20, 0);
	Valve2 = new Solenoid(20, 1);

	Arm = new SpeedControllerGroup(LArm, RArm);

	Collector = new SpeedControllerGroup(LIntake, RIntake);

	right = new SpeedControllerGroup(RRearWheel, RFrontWheel); // right speed controller group 
	left = new SpeedControllerGroup(LRearWheel, LFrontWheel); // left speed controller group 
	roboDrive = new DifferentialDrive(left, right); // making both speed controllers part of the overall drive

	speedChk = 0.5; // setting sensitivity of robot controls. Do not go lower than 0.3 since it won't register on the robot

	btnChk = true;

	flag = true;

	Cramp.start();

}

	public void run() {
		roboDrive.setSafetyEnabled(true); // stops robot if it loses communication

		// drive robot

		roboDrive.tankDrive(xbox.getRawAxis(1), xbox.getRawAxis(3));

		// Compressor

		if (xbox.getRawButton(5)) { // compress

			Valve1.set(false);

			Valve2.set(false);

		} else if (xbox.getRawButton(6)) { // uncompress

			Valve1.set(true);

			Valve2.set(true);
		}

		// move arm
		if (xbox.getRawButton(7)) {
			Arm.set(0.7);

		} else if (xbox.getRawButton(8)) {
			Arm.set(-0.7);

		} else {Arm.set(0);}

		if (xbox.getRawButton(10)) { // send it

			Arm.set(-1);

			btnChk = true;

		} else if (btnChk) {
			Arm.set(0);

			btnChk = false;

		}


		// Separate Drive

		if (xbox.getRawButton(1)) { // take in cube left

			LIntake.set(-0.45);

		} else if (xbox.getRawButton(3)) { // push out cube left

			LIntake.set(0.45); 

		} else {LIntake.set(0);}

		if (xbox.getRawButton(2)) { // take out cube right

			RIntake.set(-0.45);

		} else if (xbox.getRawButton(4)) { // take in cube right

			RIntake.set(0.45);

		} else {RIntake.set(0);}

		// Double Intake

		if (xbox.getRawButton(11)) { // Intake

			Collector.set(-0.45);

			btnChk = true;

		} else if (xbox.getRawButton(12)) { // Outtake

			Collector.set(0.45);

			btnChk = true;

		} else if (btnChk) {

			Collector.set(0);

			btnChk = false;
		}


	}

	public void auto() {

		roboDrive.setSafetyEnabled(false);

		if (flag) {

		// Drive forward
		roboDrive.tankDrive(0.5, 0.5);

		// stop
		roboDrive.tankDrive(0, 0);

		System.out.println("end of program");

		flag = false;

		}
	}

}