Summer2016Code

#include "WPILib.h"
#include "NetworkTables/NetworkTable.h"
class Robot: public IterativeRobot
{
public:
	Joystick *controller1,*controller2;
	CANTalon *driveTrainR1, *driveTrainR2,*driveTrainL1, *driveTrainL2, *shootertalon1, *shootertalon2, *drumintaketalon;
	Compressor *compressor;
	std::shared_ptr<NetworkTable> table;
	int auton = 0;
	int autonMax = 5;

	Robot(){
		table = NetworkTable::GetTable("datatable");
		//controls
		controller1 = new Joystick(1);
		controller2 = new Joystick(2);
		//Right Drive Train
		driveTrainR1 = new CANTalon(1);
		driveTrainR2 = new CANTalon(2);

		//Left Drive Train
		driveTrainL1 = new CANTalon(3);
		driveTrainL2 = new CANTalon(4);

		//shooter Talons
		shootertalon1 = new CANTalon(5);
		shootertalon2 = new CANTalon(6);
		//intake talon
		drumintaketalon = new CANTalon(7);
		compressor = new Compressor(0);
	}
	void OperatorControl ()
	{
		double x = 0;
		double y = 0;
		while (IsOperatorControl() && IsEnabled())
		{
			Wait(1.0);
			table->PutNumber("X", x);
			table->PutNumber("Y", y);
			x += 0.25;
			y += 0.25;
		}
	}
	void RobotInit()
	{
		compressor->SetClosedLoopControl(true);
		CameraServer::GetInstance()->SetQuality(50);
		CameraServer::GetInstance()->StartAutomaticCapture("cam0");
		//Not Nothing, Compressor, yay!
	}

	void AutonomousInit()
	{
		if(auton == 0)
		{
			SmartDashboard::PutString("DB/String 6","GOTTA GO FAST(drive forward 7 seconds .75 power");
		}

		if (auton == 0)
		{
			driveTrainR1->Set(.75);
			driveTrainR2->Set(.75);
			driveTrainL1->Set(-.75);
			driveTrainL2->Set(-.75);

			Wait(7);

			driveTrainR1->Set(0);
			driveTrainR2->Set(0);
			driveTrainL1->Set(0);
			driveTrainL2->Set(0);
		}
	}
	void TeleopPeriodic(){
		TankDrive(controller1->GetRawAxis(5), controller1->GetRawAxis(1));

		(controller2->GetRawButton(1));
			{
				shootertalon1->Set(1);
				shootertalon2->Set(-1);
			}
		(controller2->GetRawButton(2));
		{
			shootertalon1->Set(-1);
			shootertalon2->Set(1);
		}
		 (controller2->GetRawButton(5));
			{
				drumintaketalon->Set(1);
			}
		(controller2->GetRawButton(4));
				drumintaketalon->Set(-1);
			}
	void TankDrive(double left, double right)
		{
			driveTrainR1->Set(-left);
			driveTrainR2->Set(-left);

			driveTrainL1->Set(right);
			driveTrainL2->Set(right);
		}
};

START_ROBOT_CLASS(Robot)