Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibjExamples/build.gradle b/wpilibjExamples/build.gradle
new file mode 100644
index 0000000..55087ba
--- /dev/null
+++ b/wpilibjExamples/build.gradle
@@ -0,0 +1,48 @@
+apply plugin: 'java'
+apply plugin: 'pmd'
+
+ext {
+ useJava = true
+ useCpp = false
+ skipDev = true
+}
+
+apply from: "${rootDir}/shared/opencv.gradle"
+
+
+
+dependencies {
+ compile project(':wpilibj')
+
+ compile project(':hal')
+ compile project(':wpiutil')
+ compile project(':ntcore')
+ compile project(':cscore')
+ compile project(':cameraserver')
+}
+
+pmd {
+ consoleOutput = true
+ reportsDir = file("$project.buildDir/reports/pmd")
+ ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
+ ruleSets = []
+}
+
+gradle.projectsEvaluated {
+ tasks.withType(JavaCompile) {
+ options.compilerArgs << "-Xlint:unchecked" << "-Xlint:deprecation"
+ }
+}
+
+apply from: 'publish.gradle'
+
+ext {
+ templateDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/templates/")
+ templateFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/templates/templates.json")
+ exampleDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/")
+ exampleFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/examples/examples.json")
+ commandDirectory = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/")
+ commandFile = new File("$projectDir/src/main/java/edu/wpi/first/wpilibj/commands/commands.json")
+}
+
+apply from: "${rootDir}/shared/examplecheck.gradle"
diff --git a/wpilibjExamples/publish.gradle b/wpilibjExamples/publish.gradle
new file mode 100644
index 0000000..b2aa3aa
--- /dev/null
+++ b/wpilibjExamples/publish.gradle
@@ -0,0 +1,94 @@
+apply plugin: 'maven-publish'
+
+def pubVersion
+if (project.hasProperty("publishVersion")) {
+ pubVersion = project.publishVersion
+} else {
+ pubVersion = WPILibVersion.version
+}
+
+def baseExamplesArtifactId = 'examples'
+def baseTemplatesArtifactId = 'templates'
+def baseCommandsArtifactId = 'commands'
+def artifactGroupId = 'edu.wpi.first.wpilibj'
+
+def examplesZipBaseName = '_GROUP_edu_wpi_first_wpilibj_ID_examples_CLS'
+def templatesZipBaseName = '_GROUP_edu_wpi_first_wpilibj_ID_templates_CLS'
+def commandsZipBaseName = '_GROUP_edu_wpi_first_wpilibj_ID_commands_CLS'
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task javaExamplesZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = examplesZipBaseName
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/java/edu/wpi/first/wpilibj/examples') {
+ into 'examples'
+ }
+}
+
+task javaTemplatesZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = templatesZipBaseName
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/java/edu/wpi/first/wpilibj/templates') {
+ into 'templates'
+ }
+}
+
+task javaCommandsZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = commandsZipBaseName
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/java/edu/wpi/first/wpilibj/commands') {
+ into 'commands'
+ }
+}
+
+build.dependsOn javaTemplatesZip
+build.dependsOn javaExamplesZip
+build.dependsOn javaCommandsZip
+
+addTaskToCopyAllOutputs(javaTemplatesZip)
+addTaskToCopyAllOutputs(javaExamplesZip)
+addTaskToCopyAllOutputs(javaCommandsZip)
+
+publishing {
+ publications {
+ examples(MavenPublication) {
+ artifact javaExamplesZip
+
+ artifactId = baseExamplesArtifactId
+ groupId artifactGroupId
+ version pubVersion
+ }
+
+ templates(MavenPublication) {
+ artifact javaTemplatesZip
+
+ artifactId = baseTemplatesArtifactId
+ groupId artifactGroupId
+ version pubVersion
+ }
+
+ commands(MavenPublication) {
+ artifact javaCommandsZip
+
+ artifactId = baseCommandsArtifactId
+ groupId artifactGroupId
+ version pubVersion
+ }
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
new file mode 100644
index 0000000..c17ea2d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/command/ReplaceMeCommand.java
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.command;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class ReplaceMeCommand extends Command {
+ public ReplaceMeCommand() {
+ // Use requires() here to declare subsystem dependencies
+ // eg. requires(chassis);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute() {
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ }
+
+ // Called when another command which requires one or more of the same
+ // subsystems is scheduled to run
+ @Override
+ protected void interrupted() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
new file mode 100644
index 0000000..d1dae8c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.commandgroup;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+public class ReplaceMeCommandGroup extends CommandGroup {
+ /**
+ * Add your docs here.
+ */
+ public ReplaceMeCommandGroup() {
+ // Add Commands here:
+ // e.g. addSequential(new Command1());
+ // addSequential(new Command2());
+ // these will run in order.
+
+ // To run multiple commands at the same time,
+ // use addParallel()
+ // e.g. addParallel(new Command1());
+ // addSequential(new Command2());
+ // Command1 and Command2 will run in parallel.
+
+ // A command group will require all of the subsystems that each member
+ // would require.
+ // e.g. if Command1 requires chassis, and Command2 requires arm,
+ // a CommandGroup containing them would require both the chassis and the
+ // arm.
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json
new file mode 100644
index 0000000..2894926
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commands.json
@@ -0,0 +1,75 @@
+[
+ {
+ "name": "Empty Class",
+ "description": "Create an empty class",
+ "tags": [
+ "class"
+ ],
+ "foldername": "emptyclass",
+ "replacename": "ReplaceMeEmptyClass"
+ },
+ {
+ "name": "Command",
+ "description": "Create a base command",
+ "tags": [
+ "command"
+ ],
+ "foldername": "command",
+ "replacename": "ReplaceMeCommand"
+ },
+ {
+ "name": "Command Group",
+ "description": "Create a command group",
+ "tags": [
+ "commandgroup"
+ ],
+ "foldername": "commandgroup",
+ "replacename": "ReplaceMeCommandGroup"
+ },
+ {
+ "name": "Instant Command",
+ "description": "A command that runs immediately",
+ "tags": [
+ "instantcommand"
+ ],
+ "foldername": "instant",
+ "replacename": "ReplaceMeInstantCommand"
+ },
+ {
+ "name": "Subsystem",
+ "description": "A subsystem",
+ "tags": [
+ "subsystem"
+ ],
+ "foldername": "subsystem",
+ "replacename": "ReplaceMeSubsystem"
+ },
+ {
+ "name": "PID Subsystem",
+ "description": "A subsystem that runs a PID loop",
+ "tags": [
+ "pidsubsystem",
+ "pid"
+ ],
+ "foldername": "pidsubsystem",
+ "replacename": "ReplaceMePIDSubsystem"
+ },
+ {
+ "name": "Timed Command",
+ "description": "A command that runs for a specified time",
+ "tags": [
+ "timedcommand"
+ ],
+ "foldername": "timed",
+ "replacename": "ReplaceMeTimedCommand"
+ },
+ {
+ "name": "Trigger",
+ "description": "A command that runs off of a trigger",
+ "tags": [
+ "trigger"
+ ],
+ "foldername": "trigger",
+ "replacename": "ReplaceMeTrigger"
+ }
+]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
new file mode 100644
index 0000000..9498348
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/emptyclass/ReplaceMeEmptyClass.java
@@ -0,0 +1,14 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.emptyclass;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeEmptyClass {
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
new file mode 100644
index 0000000..bf24a14
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.instant;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeInstantCommand extends InstantCommand {
+ /**
+ * Add your docs here.
+ */
+ public ReplaceMeInstantCommand() {
+ super();
+ // Use requires() here to declare subsystem dependencies
+ // eg. requires(chassis);
+ }
+
+ // Called once when the command executes
+ @Override
+ protected void initialize() {
+ }
+
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
new file mode 100644
index 0000000..46d75f6
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.pidsubsystem;
+
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMePIDSubsystem extends PIDSubsystem {
+ /**
+ * Add your docs here.
+ */
+ public ReplaceMePIDSubsystem() {
+ // Intert a subsystem name and PID values here
+ super("SubsystemName", 1, 2, 3);
+ // Use these to get going:
+ // setSetpoint() - Sets where the PID controller should move the system
+ // to
+ // enable() - Enables the PID controller.
+ }
+
+ @Override
+ public void initDefaultCommand() {
+ // Set the default command for a subsystem here.
+ // setDefaultCommand(new MySpecialCommand());
+ }
+
+ @Override
+ protected double returnPIDInput() {
+ // Return your input value for the PID loop
+ // e.g. a sensor, like a potentiometer:
+ // yourPot.getAverageVoltage() / kYourMaxVoltage;
+ return 0.0;
+ }
+
+ @Override
+ protected void usePIDOutput(double output) {
+ // Use output to drive your system, like a motor
+ // e.g. yourMotor.set(output);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
new file mode 100644
index 0000000..1c7fe6d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/subsystem/ReplaceMeSubsystem.java
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.subsystem;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeSubsystem extends Subsystem {
+ // Put methods for controlling this subsystem
+ // here. Call these from Commands.
+
+ @Override
+ public void initDefaultCommand() {
+ // Set the default command for a subsystem here.
+ // setDefaultCommand(new MySpecialCommand());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
new file mode 100644
index 0000000..41ba965
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.timed;
+
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeTimedCommand extends TimedCommand {
+ /**
+ * Add your docs here.
+ */
+ public ReplaceMeTimedCommand(double timeout) {
+ super(timeout);
+ // Use requires() here to declare subsystem dependencies
+ // eg. requires(chassis);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute() {
+ }
+
+ // Called once after timeout
+ @Override
+ protected void end() {
+ }
+
+ // Called when another command which requires one or more of the same
+ // subsystems is scheduled to run
+ @Override
+ protected void interrupted() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
new file mode 100644
index 0000000..713ac6d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/trigger/ReplaceMeTrigger.java
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.commands.trigger;
+
+import edu.wpi.first.wpilibj.buttons.Trigger;
+
+/**
+ * Add your docs here.
+ */
+public class ReplaceMeTrigger extends Trigger {
+ @Override
+ public boolean get() {
+ return false;
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
new file mode 100644
index 0000000..1c21a4a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.axiscamera;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
new file mode 100644
index 0000000..ee4b424
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.axiscamera;
+
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+
+import edu.wpi.cscore.AxisCamera;
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.CvSource;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a demo program showing the use of OpenCV to do vision processing. The
+ * image is acquired from the Axis camera, then a rectangle is put on the image
+ * and sent to the dashboard. OpenCV has many methods for different types of
+ * processing.
+ */
+public class Robot extends TimedRobot {
+ Thread m_visionThread;
+
+ @Override
+ public void robotInit() {
+ m_visionThread = new Thread(() -> {
+ // Get the Axis camera from CameraServer
+ AxisCamera camera
+ = CameraServer.getInstance().addAxisCamera("axis-camera.local");
+ // Set the resolution
+ camera.setResolution(640, 480);
+
+ // Get a CvSink. This will capture Mats from the camera
+ CvSink cvSink = CameraServer.getInstance().getVideo();
+ // Setup a CvSource. This will send images back to the Dashboard
+ CvSource outputStream
+ = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+
+ // Mats are very memory expensive. Lets reuse this Mat.
+ Mat mat = new Mat();
+
+ // This cannot be 'true'. The program will never exit if it is. This
+ // lets the robot stop this thread when restarting robot code or
+ // deploying.
+ while (!Thread.interrupted()) {
+ // Tell the CvSink to grab a frame from the camera and put it
+ // in the source mat. If there is an error notify the output.
+ if (cvSink.grabFrame(mat) == 0) {
+ // Send the output the error.
+ outputStream.notifyError(cvSink.getError());
+ // skip the rest of the current iteration
+ continue;
+ }
+ // Put a rectangle on the image
+ Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
+ new Scalar(255, 255, 255), 5);
+ // Give the output stream a new image to display
+ outputStream.putFrame(mat);
+ }
+ });
+ m_visionThread.setDaemon(true);
+ m_visionThread.start();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
new file mode 100644
index 0000000..39a92e5
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -0,0 +1,201 @@
+[
+ {
+ "name": "Getting Started",
+ "description": "An example program which demonstrates the simplest autonomous and teleoperated routines.",
+ "tags": [
+ "Getting Started with Java"
+ ],
+ "foldername": "gettingstarted",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Tank Drive",
+ "description": "Demonstrate the use of the RobotDrive class doing teleop driving with tank steering",
+ "tags": [
+ "Actuators",
+ "Joystick",
+ "Robot and Motor",
+ "Safety"
+ ],
+ "foldername": "tankdrive",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Mecanum Drive",
+ "description": "Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering",
+ "tags": [
+ "Actuators",
+ "Joystick",
+ "Robot and Motor",
+ "Safety"
+ ],
+ "foldername": "mecanumdrive",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Ultrasonic",
+ "description": "Demonstrate maintaining a set distance using an ultrasonic sensor.",
+ "tags": [
+ "Sensors",
+ "Robot and Motor",
+ "Analog"
+ ],
+ "foldername": "ultrasonic",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Ultrasonic PID",
+ "description": "Demonstrate maintaining a set distance using an ultrasonic sensor and PID Control.",
+ "tags": [
+ "Sensors",
+ "Robot and Motor",
+ "Analog"
+ ],
+ "foldername": "ultrasonicpid",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Potentiometer PID",
+ "description": "An example to demonstrate the use of a potentiometer and PID control to reach elevator position setpoints.",
+ "tags": [
+ "Sensors",
+ "Actuators",
+ "Analog",
+ "Joystick"
+ ],
+ "foldername": "potentiometerpid",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Gyro",
+ "description": "An example program showing how to drive straight with using a gyro sensor.",
+ "tags": [
+ "Sensors",
+ "Robot and Motor",
+ "Analog",
+ "Joystick"
+ ],
+ "foldername": "gyro",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Gyro Mecanum",
+ "description": "An example program showing how to perform mecanum drive with field oriented controls.",
+ "tags": [
+ "Sensors",
+ "Robot and Motor",
+ "Analog",
+ "Joystick"
+ ],
+ "foldername": "gyromecanum",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "HID Rumble",
+ "description": "An example program showing how to make human interface devices rumble.",
+ "tags": [
+ "Joystick"
+ ],
+ "foldername": "hidrumble",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Motor Controller",
+ "description": "Demonstrate controlling a single motor with a joystick",
+ "tags": [
+ "Actuators",
+ "Joystick",
+ "Robot and Motor"
+ ],
+ "foldername": "motorcontrol",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Motor Control With Encoder",
+ "description": "Demonstrate controlling a single motor with a Joystick and displaying the net movement of the motor using an encoder.",
+ "tags": [
+ "Robot and Motor",
+ "Digital",
+ "Sensors",
+ "Actuators",
+ "Joystick",
+ "Complete List"
+ ],
+ "foldername": "motorcontrolencoder",
+ "gradlebase": "java"
+ ,"mainclass": "Main"
+ },
+ {
+ "name": "GearsBot",
+ "description": "A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.",
+ "tags": [
+ "Complete Robot"
+ ],
+ "foldername": "gearsbot",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "PacGoat",
+ "description": "A fully functional example CommandBased program for FRC Team 190's 2014 robot. This code can run on your computer if it supports simulation.",
+ "tags": [
+ "Complete Robot"
+ ],
+ "foldername": "pacgoat",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Simple Vision",
+ "description": "Demonstrate the use of the CameraServer class to stream from a USB Webcam without processing the images.",
+ "tags": [
+ "Vision",
+ "Complete List"
+ ],
+ "foldername": "quickvision",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Intermediate Vision",
+ "description": "Demonstrate the use of the NIVision class to capture image from a Webcam, process them, and then send them to the dashboard.",
+ "tags": [
+ "Vision",
+ "Complete List"
+ ],
+ "foldername": "intermediatevision",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Axis Camera Sample",
+ "description": "An example program that acquires images from an Axis network camera and adds some annotation to the image as you might do for showing operators the result of some image recognition, and sends it to the dashboard for display. This demonstrates the use of the AxisCamera class.",
+ "tags": [
+ "Vision"
+ ],
+ "foldername": "axiscamera",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Shuffleboard Sample",
+ "description": "An example program that adds data to various Shuffleboard tabs that demonstrates the Shuffleboard API",
+ "tags": [
+ "Shuffleboard",
+ "Dashboards"
+ ],
+ "foldername": "shuffleboard",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ }
+]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
new file mode 100644
index 0000000..02a1475
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.gearsbot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
new file mode 100644
index 0000000..2a2469f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
@@ -0,0 +1,72 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Pickup;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+ private final Joystick m_joystick = new Joystick(0);
+
+ /**
+ * Construct the OI and all of the buttons on it.
+ */
+ public OI() {
+ // Put Some buttons on the SmartDashboard
+ SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
+ SmartDashboard.putData("Elevator Platform", new SetElevatorSetpoint(0.2));
+ SmartDashboard.putData("Elevator Top", new SetElevatorSetpoint(0.3));
+
+ SmartDashboard.putData("Wrist Horizontal", new SetWristSetpoint(0));
+ SmartDashboard.putData("Raise Wrist", new SetWristSetpoint(-45));
+
+ SmartDashboard.putData("Open Claw", new OpenClaw());
+ SmartDashboard.putData("Close Claw", new CloseClaw());
+
+ SmartDashboard.putData("Deliver Soda", new Autonomous());
+
+ // Create some buttons
+ final JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
+ final JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
+ final JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
+ final JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
+ final JoystickButton l2 = new JoystickButton(m_joystick, 9);
+ final JoystickButton r2 = new JoystickButton(m_joystick, 10);
+ final JoystickButton l1 = new JoystickButton(m_joystick, 11);
+ final JoystickButton r1 = new JoystickButton(m_joystick, 12);
+
+ // Connect the buttons to commands
+ dpadUp.whenPressed(new SetElevatorSetpoint(0.2));
+ dpadDown.whenPressed(new SetElevatorSetpoint(-0.2));
+ dpadRight.whenPressed(new CloseClaw());
+ dpadLeft.whenPressed(new OpenClaw());
+
+ r1.whenPressed(new PrepareToPickup());
+ r2.whenPressed(new Pickup());
+ l1.whenPressed(new Place());
+ l2.whenPressed(new Autonomous());
+ }
+
+ public Joystick getJoystick() {
+ return m_joystick;
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
new file mode 100644
index 0000000..d82139f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java
@@ -0,0 +1,108 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot;
+
+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.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Claw;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Elevator;
+import edu.wpi.first.wpilibj.examples.gearsbot.subsystems.Wrist;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends TimedRobot {
+ Command m_autonomousCommand;
+
+ public static DriveTrain m_drivetrain;
+ public static Elevator m_elevator;
+ public static Wrist m_wrist;
+ public static Claw m_claw;
+ public static OI m_oi;
+
+ /**
+ * This function is run when the robot is first started up and should be
+ * used for any initialization code.
+ */
+ @Override
+ public void robotInit() {
+ // Initialize all subsystems
+ m_drivetrain = new DriveTrain();
+ m_elevator = new Elevator();
+ m_wrist = new Wrist();
+ m_claw = new Claw();
+ m_oi = new OI();
+
+ // instantiate the command used for the autonomous period
+ m_autonomousCommand = new Autonomous();
+
+ // Show what command your subsystem is running on the SmartDashboard
+ SmartDashboard.putData(m_drivetrain);
+ SmartDashboard.putData(m_elevator);
+ SmartDashboard.putData(m_wrist);
+ SmartDashboard.putData(m_claw);
+ }
+
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand.start(); // schedule the autonomous command (example)
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ Scheduler.getInstance().run();
+ log();
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ m_autonomousCommand.cancel();
+ }
+
+ /**
+ * This function is called periodically during teleoperated mode.
+ */
+ @Override
+ public void teleopPeriodic() {
+ Scheduler.getInstance().run();
+ log();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+
+ /**
+ * The log method puts interesting information to the SmartDashboard.
+ */
+ private void log() {
+ m_wrist.log();
+ m_elevator.log();
+ m_drivetrain.log();
+ m_claw.log();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
new file mode 100644
index 0000000..96a9d85
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * The main autonomous command to pickup and deliver the soda to the box.
+ */
+public class Autonomous extends CommandGroup {
+ /**
+ * Create a new autonomous command.
+ */
+ public Autonomous() {
+ addSequential(new PrepareToPickup());
+ addSequential(new Pickup());
+ addSequential(new SetDistanceToBox(0.10));
+ // addSequential(new DriveStraight(4)); // Use Encoders if ultrasonic is
+ // broken
+ addSequential(new Place());
+ addSequential(new SetDistanceToBox(0.60));
+ // addSequential(new DriveStraight(-2)); // Use Encoders if ultrasonic
+ // is broken
+ addParallel(new SetWristSetpoint(-45));
+ addSequential(new CloseClaw());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
new file mode 100644
index 0000000..cdf4788
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Closes the claw for one second. Real robots should use sensors, stalling
+ * motors is BAD!
+ */
+public class CloseClaw extends Command {
+ public CloseClaw() {
+ requires(Robot.m_claw);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.m_claw.close();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.m_claw.isGrabbing();
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ // NOTE: Doesn't stop in simulation due to lower friction causing the
+ // can to fall out
+ // + there is no need to worry about stalling the motor or crushing the
+ // can.
+ if (!Robot.isSimulation()) {
+ Robot.m_claw.stop();
+ }
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
new file mode 100644
index 0000000..ba8feeb
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.PIDController;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Drive the given distance straight (negative values go backwards). Uses a
+ * local PID controller to run a simple PID loop that is only enabled while this
+ * command is running. The input is the averaged values of the left and right
+ * encoders.
+ */
+public class DriveStraight extends Command {
+ private final PIDController m_pid;
+
+ /**
+ * Create a new DriveStraight command.
+ * @param distance The distance to drive
+ */
+ public DriveStraight(double distance) {
+ requires(Robot.m_drivetrain);
+ m_pid = new PIDController(4, 0, 0, new PIDSource() {
+ PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
+
+ @Override
+ public double pidGet() {
+ return Robot.m_drivetrain.getDistance();
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_sourceType = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_sourceType;
+ }
+ }, d -> Robot.m_drivetrain.drive(d, d));
+
+ m_pid.setAbsoluteTolerance(0.01);
+ m_pid.setSetpoint(distance);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ // Get everything in a safe starting state.
+ Robot.m_drivetrain.reset();
+ m_pid.reset();
+ m_pid.enable();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return m_pid.onTarget();
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ // Stop PID and the wheels
+ m_pid.disable();
+ Robot.m_drivetrain.drive(0, 0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
new file mode 100644
index 0000000..486181d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Opens the claw for one second. Real robots should use sensors, stalling
+ * motors is BAD!
+ */
+public class OpenClaw extends TimedCommand {
+ public OpenClaw() {
+ super(1);
+ requires(Robot.m_claw);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.m_claw.open();
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ Robot.m_claw.stop();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
new file mode 100644
index 0000000..304ddf9
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Pickup a soda can (if one is between the open claws) and get it in a safe
+ * state to drive around.
+ */
+public class Pickup extends CommandGroup {
+ /**
+ * Create a new pickup command.
+ */
+ public Pickup() {
+ addSequential(new CloseClaw());
+ addParallel(new SetWristSetpoint(-45));
+ addSequential(new SetElevatorSetpoint(0.25));
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
new file mode 100644
index 0000000..c1a1841
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Place a held soda can onto the platform.
+ */
+public class Place extends CommandGroup {
+ /**
+ * Create a new place command.
+ */
+ public Place() {
+ addSequential(new SetElevatorSetpoint(0.25));
+ addSequential(new SetWristSetpoint(0));
+ addSequential(new OpenClaw());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
new file mode 100644
index 0000000..911c535
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Make sure the robot is in a state to pickup soda cans.
+ */
+public class PrepareToPickup extends CommandGroup {
+ /**
+ * Create a new prepare to pickup command.
+ */
+ public PrepareToPickup() {
+ addParallel(new OpenClaw());
+ addParallel(new SetWristSetpoint(0));
+ addSequential(new SetElevatorSetpoint(0));
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
new file mode 100644
index 0000000..71f03dc
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
@@ -0,0 +1,77 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.PIDController;
+import edu.wpi.first.wpilibj.PIDSource;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Drive until the robot is the given distance away from the box. Uses a local
+ * PID controller to run a simple PID loop that is only enabled while this
+ * command is running. The input is the averaged values of the left and right
+ * encoders.
+ */
+public class SetDistanceToBox extends Command {
+ private final PIDController m_pid;
+
+ /**
+ * Create a new set distance to box command.
+ * @param distance The distance away from the box to drive to
+ */
+ public SetDistanceToBox(double distance) {
+ requires(Robot.m_drivetrain);
+ m_pid = new PIDController(-2, 0, 0, new PIDSource() {
+ PIDSourceType m_sourceType = PIDSourceType.kDisplacement;
+
+ @Override
+ public double pidGet() {
+ return Robot.m_drivetrain.getDistanceToObstacle();
+ }
+
+ @Override
+ public void setPIDSourceType(PIDSourceType pidSource) {
+ m_sourceType = pidSource;
+ }
+
+ @Override
+ public PIDSourceType getPIDSourceType() {
+ return m_sourceType;
+ }
+ }, d -> Robot.m_drivetrain.drive(d, d));
+
+ m_pid.setAbsoluteTolerance(0.01);
+ m_pid.setSetpoint(distance);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ // Get everything in a safe starting state.
+ Robot.m_drivetrain.reset();
+ m_pid.reset();
+ m_pid.enable();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return m_pid.onTarget();
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ // Stop PID and the wheels
+ m_pid.disable();
+ Robot.m_drivetrain.drive(0, 0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
new file mode 100644
index 0000000..0ee5193
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Move the elevator to a given location. This command finishes when it is
+ * within the tolerance, but leaves the PID loop running to maintain the
+ * position. Other commands using the elevator should make sure they disable
+ * PID!
+ */
+public class SetElevatorSetpoint extends Command {
+ private final double m_setpoint;
+
+ public SetElevatorSetpoint(double setpoint) {
+ m_setpoint = setpoint;
+ requires(Robot.m_elevator);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.m_elevator.enable();
+ Robot.m_elevator.setSetpoint(m_setpoint);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.m_elevator.onTarget();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
new file mode 100644
index 0000000..62e7a7f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Move the wrist to a given angle. This command finishes when it is within the
+ * tolerance, but leaves the PID loop running to maintain the position. Other
+ * commands using the wrist should make sure they disable PID!
+ */
+public class SetWristSetpoint extends Command {
+ private final double m_setpoint;
+
+ public SetWristSetpoint(double setpoint) {
+ m_setpoint = setpoint;
+ requires(Robot.m_wrist);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.m_wrist.enable();
+ Robot.m_wrist.setSetpoint(m_setpoint);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.m_wrist.onTarget();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
new file mode 100644
index 0000000..642fa5d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * Have the robot drive tank style using the PS3 Joystick until interrupted.
+ */
+public class TankDriveWithJoystick extends Command {
+ public TankDriveWithJoystick() {
+ requires(Robot.m_drivetrain);
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute() {
+ Robot.m_drivetrain.drive(Robot.m_oi.getJoystick());
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return false; // Runs until interrupted
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ Robot.m_drivetrain.drive(0, 0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
new file mode 100644
index 0000000..550db9a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * The claw subsystem is a simple system with a motor for opening and closing.
+ * If using stronger motors, you should probably use a sensor so that the motors
+ * don't stall.
+ */
+public class Claw extends Subsystem {
+ private final Victor m_motor = new Victor(7);
+ private final DigitalInput m_contact = new DigitalInput(5);
+
+ /**
+ * Create a new claw subsystem.
+ */
+ public Claw() {
+ super();
+
+ // Let's name everything on the LiveWindow
+ addChild("Motor", m_motor);
+ addChild("Limit Switch", m_contact);
+ }
+
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ public void log() {
+ }
+
+ /**
+ * Set the claw motor to move in the open direction.
+ */
+ public void open() {
+ m_motor.set(-1);
+ }
+
+ /**
+ * Set the claw motor to move in the close direction.
+ */
+ @Override
+ public void close() {
+ m_motor.set(1);
+ }
+
+ /**
+ * Stops the claw motor from moving.
+ */
+ public void stop() {
+ m_motor.set(0);
+ }
+
+ /**
+ * Return true when the robot is grabbing an object hard enough to trigger
+ * the limit switch.
+ */
+ public boolean isGrabbing() {
+ return m_contact.get();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
new file mode 100644
index 0000000..5c55365
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
@@ -0,0 +1,146 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
+
+/**
+ * The DriveTrain subsystem incorporates the sensors and actuators attached to
+ * the robots chassis. These include four drive motors, a left and right encoder
+ * and a gyro.
+ */
+public class DriveTrain extends Subsystem {
+ private final SpeedController m_leftMotor
+ = new SpeedControllerGroup(new PWMVictorSPX(0), new PWMVictorSPX(1));
+ private final SpeedController m_rightMotor
+ = new SpeedControllerGroup(new PWMVictorSPX(2), new PWMVictorSPX(3));
+
+ private final DifferentialDrive m_drive
+ = new DifferentialDrive(m_leftMotor, m_rightMotor);
+
+ private final Encoder m_leftEncoder = new Encoder(1, 2);
+ private final Encoder m_rightEncoder = new Encoder(3, 4);
+ private final AnalogInput m_rangefinder = new AnalogInput(6);
+ private final AnalogGyro m_gyro = new AnalogGyro(1);
+
+ /**
+ * Create a new drive train subsystem.
+ */
+ public DriveTrain() {
+ super();
+
+ // Encoders may measure differently in the real world and in
+ // simulation. In this example the robot moves 0.042 barleycorns
+ // per tick in the real world, but the simulated encoders
+ // simulate 360 tick encoders. This if statement allows for the
+ // real robot to handle this difference in devices.
+ if (Robot.isReal()) {
+ m_leftEncoder.setDistancePerPulse(0.042);
+ m_rightEncoder.setDistancePerPulse(0.042);
+ } else {
+ // Circumference in ft = 4in/12(in/ft)*PI
+ m_leftEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
+ m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
+ }
+
+ // Let's name the sensors on the LiveWindow
+ addChild("Drive", m_drive);
+ addChild("Left Encoder", m_leftEncoder);
+ addChild("Right Encoder", m_rightEncoder);
+ addChild("Rangefinder", m_rangefinder);
+ addChild("Gyro", m_gyro);
+ }
+
+ /**
+ * When no other command is running let the operator drive around using the
+ * PS3 joystick.
+ */
+ @Override
+ public void initDefaultCommand() {
+ setDefaultCommand(new TankDriveWithJoystick());
+ }
+
+ /**
+ * The log method puts interesting information to the SmartDashboard.
+ */
+ public void log() {
+ SmartDashboard.putNumber("Left Distance", m_leftEncoder.getDistance());
+ SmartDashboard.putNumber("Right Distance", m_rightEncoder.getDistance());
+ SmartDashboard.putNumber("Left Speed", m_leftEncoder.getRate());
+ SmartDashboard.putNumber("Right Speed", m_rightEncoder.getRate());
+ SmartDashboard.putNumber("Gyro", m_gyro.getAngle());
+ }
+
+ /**
+ * Tank style driving for the DriveTrain.
+ *
+ * @param left Speed in range [-1,1]
+ * @param right Speed in range [-1,1]
+ */
+ public void drive(double left, double right) {
+ m_drive.tankDrive(left, right);
+ }
+
+ /**
+ * Tank style driving for the DriveTrain.
+ *
+ * @param joy The ps3 style joystick to use to drive tank style.
+ */
+ public void drive(Joystick joy) {
+ drive(-joy.getY(), -joy.getThrottle());
+ }
+
+ /**
+ * Get the robot's heading.
+ *
+ * @return The robots heading in degrees.
+ */
+ public double getHeading() {
+ return m_gyro.getAngle();
+ }
+
+ /**
+ * Reset the robots sensors to the zero states.
+ */
+ public void reset() {
+ m_gyro.reset();
+ m_leftEncoder.reset();
+ m_rightEncoder.reset();
+ }
+
+ /**
+ * Get the average distance of the encoders since the last reset.
+ *
+ * @return The distance driven (average of left and right encoders).
+ */
+ public double getDistance() {
+ return (m_leftEncoder.getDistance() + m_rightEncoder.getDistance()) / 2;
+ }
+
+ /**
+ * Get the distance to the obstacle.
+ *
+ * @return The distance to the obstacle detected by the rangefinder.
+ */
+ public double getDistanceToObstacle() {
+ // Really meters in simulation since it's a rangefinder...
+ return m_rangefinder.getAverageVoltage();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
new file mode 100644
index 0000000..02d308c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * The elevator subsystem uses PID to go to a given height. Unfortunately, in
+ * it's current state PID values for simulation are different than in the real
+ * world do to minor differences.
+ */
+public class Elevator extends PIDSubsystem {
+ private final Victor m_motor;
+ private final AnalogPotentiometer m_pot;
+
+ private static final double kP_real = 4;
+ private static final double kI_real = 0.07;
+ private static final double kP_simulation = 18;
+ private static final double kI_simulation = 0.2;
+
+ /**
+ * Create a new elevator subsystem.
+ */
+ public Elevator() {
+ super(kP_real, kI_real, 0);
+ if (Robot.isSimulation()) { // Check for simulation and update PID values
+ getPIDController().setPID(kP_simulation, kI_simulation, 0, 0);
+ }
+ setAbsoluteTolerance(0.005);
+
+ m_motor = new Victor(5);
+
+ // Conversion value of potentiometer varies between the real world and
+ // simulation
+ if (Robot.isReal()) {
+ m_pot = new AnalogPotentiometer(2, -2.0 / 5);
+ } else {
+ m_pot = new AnalogPotentiometer(2); // Defaults to meters
+ }
+
+ // Let's name everything on the LiveWindow
+ addChild("Motor", m_motor);
+ addChild("Pot", m_pot);
+ }
+
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ /**
+ * The log method puts interesting information to the SmartDashboard.
+ */
+ public void log() {
+ SmartDashboard.putData("Elevator Pot", (AnalogPotentiometer) m_pot);
+ }
+
+ /**
+ * Use the potentiometer as the PID sensor. This method is automatically
+ * called by the subsystem.
+ */
+ @Override
+ protected double returnPIDInput() {
+ return m_pot.get();
+ }
+
+ /**
+ * Use the motor as the PID output. This method is automatically called by
+ * the subsystem.
+ */
+ @Override
+ protected void usePIDOutput(double power) {
+ m_motor.set(power);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
new file mode 100644
index 0000000..30fa38e
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
+
+/**
+ * The wrist subsystem is like the elevator, but with a rotational joint instead
+ * of a linear joint.
+ */
+public class Wrist extends PIDSubsystem {
+ private final Victor m_motor;
+ private final AnalogPotentiometer m_pot;
+
+ private static final double kP_real = 1;
+ private static final double kP_simulation = 0.05;
+
+ /**
+ * Create a new wrist subsystem.
+ */
+ public Wrist() {
+ super(kP_real, 0, 0);
+ if (Robot.isSimulation()) { // Check for simulation and update PID values
+ getPIDController().setPID(kP_simulation, 0, 0, 0);
+ }
+ setAbsoluteTolerance(2.5);
+
+ m_motor = new Victor(6);
+
+ // Conversion value of potentiometer varies between the real world and
+ // simulation
+ if (Robot.isReal()) {
+ m_pot = new AnalogPotentiometer(3, -270.0 / 5);
+ } else {
+ m_pot = new AnalogPotentiometer(3); // Defaults to degrees
+ }
+
+ // Let's name everything on the LiveWindow
+ addChild("Motor", m_motor);
+ addChild("Pot", m_pot);
+ }
+
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ /**
+ * The log method puts interesting information to the SmartDashboard.
+ */
+ public void log() {
+ SmartDashboard.putData("Wrist Angle", (AnalogPotentiometer) m_pot);
+ }
+
+ /**
+ * Use the potentiometer as the PID sensor. This method is automatically
+ * called by the subsystem.
+ */
+ @Override
+ protected double returnPIDInput() {
+ return m_pot.get();
+ }
+
+ /**
+ * Use the motor as the PID output. This method is automatically called by
+ * the subsystem.
+ */
+ @Override
+ protected void usePIDOutput(double power) {
+ m_motor.set(power);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
new file mode 100644
index 0000000..282f922
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.gettingstarted;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
new file mode 100644
index 0000000..8b2f249
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
@@ -0,0 +1,80 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gettingstarted;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends TimedRobot {
+ private final DifferentialDrive m_robotDrive
+ = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
+ private final Joystick m_stick = new Joystick(0);
+ private final Timer m_timer = new Timer();
+
+ /**
+ * This function is run when the robot is first started up and should be
+ * used for any initialization code.
+ */
+ @Override
+ public void robotInit() {
+ }
+
+ /**
+ * This function is run once each time the robot enters autonomous mode.
+ */
+ @Override
+ public void autonomousInit() {
+ m_timer.reset();
+ m_timer.start();
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ // Drive for 2 seconds
+ if (m_timer.get() < 2.0) {
+ m_robotDrive.arcadeDrive(0.5, 0.0); // drive forwards half speed
+ } else {
+ m_robotDrive.stopMotor(); // stop robot
+ }
+ }
+
+ /**
+ * This function is called once each time the robot enters teleoperated mode.
+ */
+ @Override
+ public void teleopInit() {
+ }
+
+ /**
+ * This function is called periodically during teleoperated mode.
+ */
+ @Override
+ public void teleopPeriodic() {
+ m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
new file mode 100644
index 0000000..4c5574e
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.gyro;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
new file mode 100644
index 0000000..39b2ecb
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyro/Robot.java
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gyro;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a sample program to demonstrate how to use a gyro sensor to make a
+ * robot drive straight. This program uses a joystick to drive forwards and
+ * backwards while the gyro is used for direction keeping.
+ */
+public class Robot extends TimedRobot {
+ private static final double kAngleSetpoint = 0.0;
+ private static final double kP = 0.005; // propotional turning constant
+
+ // gyro calibration constant, may need to be adjusted;
+ // gyro value of 360 is set to correspond to one full revolution
+ private static final double kVoltsPerDegreePerSecond = 0.0128;
+
+ private static final int kLeftMotorPort = 0;
+ private static final int kRightMotorPort = 1;
+ private static final int kGyroPort = 0;
+ private static final int kJoystickPort = 0;
+
+ private final DifferentialDrive m_myRobot
+ = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+ new PWMVictorSPX(kRightMotorPort));
+ private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
+ private final Joystick m_joystick = new Joystick(kJoystickPort);
+
+ @Override
+ public void robotInit() {
+ m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
+ }
+
+ /**
+ * The motor speed is set from the joystick while the RobotDrive turning
+ * value is assigned from the error between the setpoint and the gyro angle.
+ */
+ @Override
+ public void teleopPeriodic() {
+ double turningValue = (kAngleSetpoint - m_gyro.getAngle()) * kP;
+ // Invert the direction of the turn if we are going backwards
+ turningValue = Math.copySign(turningValue, m_joystick.getY());
+ m_myRobot.arcadeDrive(m_joystick.getY(), turningValue);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java
new file mode 100644
index 0000000..63300b6
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.gyromecanum;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
new file mode 100644
index 0000000..079318a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyromecanum/Robot.java
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.gyromecanum;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+
+/**
+ * This is a sample program that uses mecanum drive with a gyro sensor to
+ * maintian rotation vectorsin relation to the starting orientation of the robot
+ * (field-oriented controls).
+ */
+public class Robot extends TimedRobot {
+ // gyro calibration constant, may need to be adjusted;
+ // gyro value of 360 is set to correspond to one full revolution
+ private static final double kVoltsPerDegreePerSecond = 0.0128;
+
+ private static final int kFrontLeftChannel = 0;
+ private static final int kRearLeftChannel = 1;
+ private static final int kFrontRightChannel = 2;
+ private static final int kRearRightChannel = 3;
+ private static final int kGyroPort = 0;
+ private static final int kJoystickPort = 0;
+
+ private MecanumDrive m_robotDrive;
+ private final AnalogGyro m_gyro = new AnalogGyro(kGyroPort);
+ private final Joystick m_joystick = new Joystick(kJoystickPort);
+
+ @Override
+ public void robotInit() {
+ PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
+ PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
+ PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
+ PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
+
+ // Invert the left side motors.
+ // You may need to change or remove this to match your robot.
+ frontLeft.setInverted(true);
+ rearLeft.setInverted(true);
+
+ m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+ m_gyro.setSensitivity(kVoltsPerDegreePerSecond);
+ }
+
+ /**
+ * Mecanum drive is used with the gyro angle as an input.
+ */
+ @Override
+ public void teleopPeriodic() {
+ m_robotDrive.driveCartesian(m_joystick.getX(), m_joystick.getY(),
+ m_joystick.getZ(), m_gyro.getAngle());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java
new file mode 100644
index 0000000..297bbf1
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.hidrumble;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java
new file mode 100755
index 0000000..c7f6029
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hidrumble/Robot.java
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.hidrumble;
+
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
+
+/**
+ * This is a demo program showing the use of GenericHID's rumble feature.
+ */
+public class Robot extends TimedRobot {
+ private final XboxController m_hid = new XboxController(0);
+
+ @Override
+ public void autonomousInit() {
+ // Turn on rumble at the start of auto
+ m_hid.setRumble(RumbleType.kLeftRumble, 1.0);
+ m_hid.setRumble(RumbleType.kRightRumble, 1.0);
+ }
+
+ @Override
+ public void disabledInit() {
+ // Stop the rumble when entering disabled
+ m_hid.setRumble(RumbleType.kLeftRumble, 0.0);
+ m_hid.setRumble(RumbleType.kRightRumble, 0.0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java
new file mode 100644
index 0000000..a0210b4
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.intermediatevision;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
new file mode 100644
index 0000000..526e849
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.intermediatevision;
+
+import org.opencv.core.Mat;
+import org.opencv.core.Point;
+import org.opencv.core.Scalar;
+import org.opencv.imgproc.Imgproc;
+
+import edu.wpi.cscore.CvSink;
+import edu.wpi.cscore.CvSource;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a demo program showing the use of OpenCV to do vision processing. The
+ * image is acquired from the USB camera, then a rectangle is put on the image
+ * and sent to the dashboard. OpenCV has many methods for different types of
+ * processing.
+ */
+public class Robot extends TimedRobot {
+ Thread m_visionThread;
+
+ @Override
+ public void robotInit() {
+ m_visionThread = new Thread(() -> {
+ // Get the UsbCamera from CameraServer
+ UsbCamera camera = CameraServer.getInstance().startAutomaticCapture();
+ // Set the resolution
+ camera.setResolution(640, 480);
+
+ // Get a CvSink. This will capture Mats from the camera
+ CvSink cvSink = CameraServer.getInstance().getVideo();
+ // Setup a CvSource. This will send images back to the Dashboard
+ CvSource outputStream
+ = CameraServer.getInstance().putVideo("Rectangle", 640, 480);
+
+ // Mats are very memory expensive. Lets reuse this Mat.
+ Mat mat = new Mat();
+
+ // This cannot be 'true'. The program will never exit if it is. This
+ // lets the robot stop this thread when restarting robot code or
+ // deploying.
+ while (!Thread.interrupted()) {
+ // Tell the CvSink to grab a frame from the camera and put it
+ // in the source mat. If there is an error notify the output.
+ if (cvSink.grabFrame(mat) == 0) {
+ // Send the output the error.
+ outputStream.notifyError(cvSink.getError());
+ // skip the rest of the current iteration
+ continue;
+ }
+ // Put a rectangle on the image
+ Imgproc.rectangle(mat, new Point(100, 100), new Point(400, 400),
+ new Scalar(255, 255, 255), 5);
+ // Give the output stream a new image to display
+ outputStream.putFrame(mat);
+ }
+ });
+ m_visionThread.setDaemon(true);
+ m_visionThread.start();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java
new file mode 100644
index 0000000..4a8f2e1
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.mecanumdrive;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
new file mode 100755
index 0000000..35c975c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumdrive/Robot.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.mecanumdrive;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.MecanumDrive;
+
+/**
+ * This is a demo program showing how to use Mecanum control with the RobotDrive
+ * class.
+ */
+public class Robot extends TimedRobot {
+ private static final int kFrontLeftChannel = 2;
+ private static final int kRearLeftChannel = 3;
+ private static final int kFrontRightChannel = 1;
+ private static final int kRearRightChannel = 0;
+
+ private static final int kJoystickChannel = 0;
+
+ private MecanumDrive m_robotDrive;
+ private Joystick m_stick;
+
+ @Override
+ public void robotInit() {
+ PWMVictorSPX frontLeft = new PWMVictorSPX(kFrontLeftChannel);
+ PWMVictorSPX rearLeft = new PWMVictorSPX(kRearLeftChannel);
+ PWMVictorSPX frontRight = new PWMVictorSPX(kFrontRightChannel);
+ PWMVictorSPX rearRight = new PWMVictorSPX(kRearRightChannel);
+
+ // Invert the left side motors.
+ // You may need to change or remove this to match your robot.
+ frontLeft.setInverted(true);
+ rearLeft.setInverted(true);
+
+ m_robotDrive = new MecanumDrive(frontLeft, rearLeft, frontRight, rearRight);
+
+ m_stick = new Joystick(kJoystickChannel);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ // Use the joystick X axis for lateral movement, Y axis for forward
+ // movement, and Z axis for rotation.
+ m_robotDrive.driveCartesian(m_stick.getX(), m_stick.getY(),
+ m_stick.getZ(), 0.0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java
new file mode 100644
index 0000000..f817e8f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.motorcontrol;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
new file mode 100755
index 0000000..7dfb49b
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.motorcontrol;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This sample program shows how to control a motor using a joystick. In the
+ * operator control part of the program, the joystick is read and the value is
+ * written to the motor.
+ *
+ * <p>Joystick analog values range from -1 to 1 and speed controller inputs also
+ * range from -1 to 1 making it easy to work together.
+ */
+public class Robot extends TimedRobot {
+ private static final int kMotorPort = 0;
+ private static final int kJoystickPort = 0;
+
+ private SpeedController m_motor;
+ private Joystick m_joystick;
+
+ @Override
+ public void robotInit() {
+ m_motor = new PWMVictorSPX(kMotorPort);
+ m_joystick = new Joystick(kJoystickPort);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ m_motor.set(m_joystick.getY());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java
new file mode 100644
index 0000000..5b03eed
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.motorcontrolencoder;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
new file mode 100644
index 0000000..b0cc217
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrolencoder/Robot.java
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.motorcontrolencoder;
+
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * This sample program shows how to control a motor using a joystick. In the
+ * operator control part of the program, the joystick is read and the value is
+ * written to the motor.
+ *
+ * <p>Joystick analog values range from -1 to 1 and speed controller inputs also
+ * range from -1 to 1 making it easy to work together.
+ *
+ * <p>In addition, the encoder value of an encoder connected to ports 0 and 1 is
+ * consistently sent to the Dashboard.
+ */
+public class Robot extends TimedRobot {
+ private static final int kMotorPort = 0;
+ private static final int kJoystickPort = 0;
+ private static final int kEncoderPortA = 0;
+ private static final int kEncoderPortB = 1;
+
+ private SpeedController m_motor;
+ private Joystick m_joystick;
+ private Encoder m_encoder;
+
+ @Override
+ public void robotInit() {
+ m_motor = new PWMVictorSPX(kMotorPort);
+ m_joystick = new Joystick(kJoystickPort);
+ m_encoder = new Encoder(kEncoderPortA, kEncoderPortB);
+ // Use SetDistancePerPulse to set the multiplier for GetDistance
+ // This is set up assuming a 6 inch wheel with a 360 CPR encoder.
+ m_encoder.setDistancePerPulse((Math.PI * 6) / 360.0);
+ }
+
+ /*
+ * The RobotPeriodic function is called every control packet no matter the
+ * robot mode.
+ */
+ @Override
+ public void robotPeriodic() {
+ SmartDashboard.putNumber("Encoder", m_encoder.getDistance());
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ m_motor.set(m_joystick.getY());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java
new file mode 100644
index 0000000..04a26be
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.pacgoat;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
new file mode 100644
index 0000000..c1646e1
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.Collect;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.LowGoal;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.SetCollectionSpeed;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.SetPivotSetpoint;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.Shoot;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
+import edu.wpi.first.wpilibj.examples.pacgoat.triggers.DoubleButton;
+
+/**
+ * The operator interface of the robot, it has been simplified from the real
+ * robot to allow control with a single PS3 joystick. As a result, not all
+ * functionality from the real robot is available.
+ */
+public class OI {
+ public Joystick m_joystick = new Joystick(0);
+
+ /**
+ * Create a new OI and all of the buttons on it.
+ */
+ public OI() {
+ new JoystickButton(m_joystick, 12).whenPressed(new LowGoal());
+ new JoystickButton(m_joystick, 10).whenPressed(new Collect());
+
+ new JoystickButton(m_joystick, 11).whenPressed(
+ new SetPivotSetpoint(Pivot.kShoot));
+ new JoystickButton(m_joystick, 9).whenPressed(
+ new SetPivotSetpoint(Pivot.kShootNear));
+
+ new DoubleButton(m_joystick, 2, 3).whenActive(new Shoot());
+
+ // SmartDashboard Buttons
+ SmartDashboard.putData("Drive Forward", new DriveForward(2.25));
+ SmartDashboard.putData("Drive Backward", new DriveForward(-2.25));
+ SmartDashboard.putData("Start Rollers",
+ new SetCollectionSpeed(Collector.kForward));
+ SmartDashboard.putData("Stop Rollers",
+ new SetCollectionSpeed(Collector.kStop));
+ SmartDashboard.putData("Reverse Rollers",
+ new SetCollectionSpeed(Collector.kReverse));
+ }
+
+ public Joystick getJoystick() {
+ return m_joystick;
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
new file mode 100644
index 0000000..3e1c397
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat;
+
+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.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveAndShootAutonomous;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.DriveTrain;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pneumatics;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Shooter;
+
+/**
+ * This is the main class for running the PacGoat code.
+ *
+ * <p>The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends TimedRobot {
+ Command m_autonomousCommand;
+ public static OI oi;
+
+ // Initialize the subsystems
+ public static DriveTrain drivetrain = new DriveTrain();
+ public static Collector collector = new Collector();
+ public static Shooter shooter = new Shooter();
+ public static Pneumatics pneumatics = new Pneumatics();
+ public static Pivot pivot = new Pivot();
+
+ public SendableChooser<Command> m_autoChooser;
+
+ // This function is run when the robot is first started up and should be
+ // used for any initialization code.
+ @Override
+ public void robotInit() {
+ SmartDashboard.putData(drivetrain);
+ SmartDashboard.putData(collector);
+ SmartDashboard.putData(shooter);
+ SmartDashboard.putData(pneumatics);
+ SmartDashboard.putData(pivot);
+
+ // This MUST be here. If the OI creates Commands (which it very likely
+ // will), constructing it during the construction of CommandBase (from
+ // which commands extend), subsystems are not guaranteed to be
+ // yet. Thus, their requires() statements may grab null pointers. Bad
+ // news. Don't move it.
+ oi = new OI();
+
+ // instantiate the command used for the autonomous period
+ m_autoChooser = new SendableChooser<Command>();
+ m_autoChooser.setDefaultOption("Drive and Shoot", new DriveAndShootAutonomous());
+ m_autoChooser.addOption("Drive Forward", new DriveForward());
+ SmartDashboard.putData("Auto Mode", m_autoChooser);
+ }
+
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = (Command) m_autoChooser.getSelected();
+ m_autonomousCommand.start();
+ }
+
+ // This function is called periodically during autonomous
+ @Override
+ public void autonomousPeriodic() {
+ Scheduler.getInstance().run();
+ log();
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ // This function is called periodically during operator control
+ @Override
+ public void teleopPeriodic() {
+ Scheduler.getInstance().run();
+ log();
+ }
+
+ // This function called periodically during test mode
+ @Override
+ public void testPeriodic() {
+ }
+
+ @Override
+ public void disabledInit() {
+ Robot.shooter.unlatch();
+ }
+
+ // This function is called periodically while disabled
+ @Override
+ public void disabledPeriodic() {
+ log();
+ }
+
+ /**
+ * Log interesting values to the SmartDashboard.
+ */
+ private void log() {
+ Robot.pneumatics.writePressure();
+ SmartDashboard.putNumber("Pivot Pot Value", Robot.pivot.getAngle());
+ SmartDashboard.putNumber("Left Distance",
+ drivetrain.getLeftEncoder().getDistance());
+ SmartDashboard.putNumber("Right Distance",
+ drivetrain.getRightEncoder().getDistance());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java
new file mode 100644
index 0000000..4136ed1
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CheckForHotGoal.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * This command looks for the hot goal and waits until it's detected or timed
+ * out. The timeout is because it's better to shoot and get some autonomous
+ * points than get none. When called sequentially, this command will block until
+ * the hot goal is detected or until it is timed out.
+ */
+public class CheckForHotGoal extends Command {
+ public CheckForHotGoal(double time) {
+ setTimeout(time);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return isTimedOut() || Robot.shooter.goalIsHot();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java
new file mode 100644
index 0000000..e9c154a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/CloseClaw.java
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Close the claw.
+ *
+ * <p>NOTE: It doesn't wait for the claw to close since there is no sensor to
+ * detect that.
+ */
+public class CloseClaw extends InstantCommand {
+ public CloseClaw() {
+ requires(Robot.collector);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.collector.close();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
new file mode 100644
index 0000000..d9db916
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
+
+/**
+ * Get the robot set to collect balls.
+ */
+public class Collect extends CommandGroup {
+ /**
+ * Create a new collect command.
+ */
+ public Collect() {
+ addSequential(new SetCollectionSpeed(Collector.kForward));
+ addParallel(new CloseClaw());
+ addSequential(new SetPivotSetpoint(Pivot.kCollect));
+ addSequential(new WaitForBall());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
new file mode 100644
index 0000000..f614e8f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Drive over the line and then shoot the ball. If the hot goal is not detected,
+ * it will wait briefly.
+ */
+public class DriveAndShootAutonomous extends CommandGroup {
+ /**
+ * Create a new drive and shoot autonomous.
+ */
+ public DriveAndShootAutonomous() {
+ addSequential(new CloseClaw());
+ addSequential(new WaitForPressure(), 2);
+ if (Robot.isReal()) {
+ // NOTE: Simulation doesn't currently have the concept of hot.
+ addSequential(new CheckForHotGoal(2));
+ }
+ addSequential(new SetPivotSetpoint(45));
+ addSequential(new DriveForward(8, 0.3));
+ addSequential(new Shoot());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
new file mode 100644
index 0000000..219233b
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * This command drives the robot over a given distance with simple proportional
+ * control This command will drive a given distance limiting to a maximum speed.
+ */
+public class DriveForward extends Command {
+ private final double m_driveForwardSpeed;
+ private final double m_distance;
+ private double m_error;
+ private static final double kTolerance = 0.1;
+ private static final double kP = -1.0 / 5.0;
+
+ public DriveForward() {
+ this(10, 0.5);
+ }
+
+ public DriveForward(double dist) {
+ this(dist, 0.5);
+ }
+
+ /**
+ * Create a new drive forward command.
+ * @param dist The distance to drive
+ * @param maxSpeed The maximum speed to drive at
+ */
+ public DriveForward(double dist, double maxSpeed) {
+ requires(Robot.drivetrain);
+ m_distance = dist;
+ m_driveForwardSpeed = maxSpeed;
+ }
+
+ @Override
+ protected void initialize() {
+ Robot.drivetrain.getRightEncoder().reset();
+ setTimeout(2);
+ }
+
+ @Override
+ protected void execute() {
+ m_error = m_distance - Robot.drivetrain.getRightEncoder().getDistance();
+ if (m_driveForwardSpeed * kP * m_error >= m_driveForwardSpeed) {
+ Robot.drivetrain.tankDrive(m_driveForwardSpeed, m_driveForwardSpeed);
+ } else {
+ Robot.drivetrain.tankDrive(m_driveForwardSpeed * kP * m_error,
+ m_driveForwardSpeed * kP * m_error);
+ }
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return Math.abs(m_error) <= kTolerance || isTimedOut();
+ }
+
+ @Override
+ protected void end() {
+ Robot.drivetrain.stop();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java
new file mode 100644
index 0000000..883ff62
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveWithJoystick.java
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * This command allows PS3 joystick to drive the robot. It is always running
+ * except when interrupted by another command.
+ */
+public class DriveWithJoystick extends Command {
+ public DriveWithJoystick() {
+ requires(Robot.drivetrain);
+ }
+
+ @Override
+ protected void execute() {
+ Robot.drivetrain.tankDrive(Robot.oi.getJoystick());
+ }
+
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ @Override
+ protected void end() {
+ Robot.drivetrain.stop();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java
new file mode 100644
index 0000000..cfad93d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/ExtendShooter.java
@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.TimedCommand;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Extend the shooter and then retract it after a second.
+ */
+public class ExtendShooter extends TimedCommand {
+ public ExtendShooter() {
+ super(1);
+ requires(Robot.shooter);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.shooter.extendBoth();
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ Robot.shooter.retractBoth();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
new file mode 100644
index 0000000..08214e1
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
+
+/**
+ * Spit the ball out into the low goal assuming that the robot is in front of
+ * it.
+ */
+public class LowGoal extends CommandGroup {
+ /**
+ * Create a new low goal command.
+ */
+ public LowGoal() {
+ addSequential(new SetPivotSetpoint(Pivot.kLowGoal));
+ addSequential(new SetCollectionSpeed(Collector.kReverse));
+ addSequential(new ExtendShooter());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java
new file mode 100644
index 0000000..f59a6f6
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/OpenClaw.java
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Opens the claw.
+ */
+public class OpenClaw extends Command {
+ public OpenClaw() {
+ requires(Robot.collector);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.collector.open();
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.collector.isOpen();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java
new file mode 100644
index 0000000..172905d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetCollectionSpeed.java
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.InstantCommand;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * This command sets the collector rollers spinning at the given speed. Since
+ * there is no sensor for detecting speed, it finishes immediately. As a result,
+ * the spinners may still be adjusting their speed.
+ */
+public class SetCollectionSpeed extends InstantCommand {
+ private final double m_speed;
+
+ public SetCollectionSpeed(double speed) {
+ requires(Robot.collector);
+ this.m_speed = speed;
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.collector.setSpeed(m_speed);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java
new file mode 100644
index 0000000..74a81a0
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/SetPivotSetpoint.java
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Moves the pivot to a given angle. This command finishes when it is within the
+ * tolerance, but leaves the PID loop running to maintain the position. Other
+ * commands using the pivot should make sure they disable PID!
+ */
+public class SetPivotSetpoint extends Command {
+ private final double m_setpoint;
+
+ public SetPivotSetpoint(double setpoint) {
+ this.m_setpoint = setpoint;
+ requires(Robot.pivot);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ Robot.pivot.enable();
+ Robot.pivot.setSetpoint(m_setpoint);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.pivot.onTarget();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
new file mode 100644
index 0000000..40ccb25
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
+
+/**
+ * Shoot the ball at the current angle.
+ */
+public class Shoot extends CommandGroup {
+ /**
+ * Create a new shoot command.
+ */
+ public Shoot() {
+ addSequential(new WaitForPressure());
+ addSequential(new SetCollectionSpeed(Collector.kStop));
+ addSequential(new OpenClaw());
+ addSequential(new ExtendShooter());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java
new file mode 100644
index 0000000..bf1d506
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForBall.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Wait until the collector senses that it has the ball. This command does
+ * nothing and is intended to be used in command groups to wait for this
+ * condition.
+ */
+public class WaitForBall extends Command {
+ public WaitForBall() {
+ requires(Robot.collector);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.collector.hasBall();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java
new file mode 100644
index 0000000..39bac0a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/WaitForPressure.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * Wait until the pneumatics are fully pressurized. This command does nothing
+ * and is intended to be used in command groups to wait for this condition.
+ */
+public class WaitForPressure extends Command {
+ public WaitForPressure() {
+ requires(Robot.pneumatics);
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return Robot.pneumatics.isPressurized();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
new file mode 100644
index 0000000..6bff9ff
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java
@@ -0,0 +1,103 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * The Collector subsystem has one motor for the rollers, a limit switch for
+ * ball detection, a piston for opening and closing the claw, and a reed switch
+ * to check if the piston is open.
+ */
+public class Collector extends Subsystem {
+ // Constants for some useful speeds
+ public static final double kForward = 1;
+ public static final double kStop = 0;
+ public static final double kReverse = -1;
+
+ // Subsystem devices
+ private final SpeedController m_rollerMotor = new Victor(6);
+ private final DigitalInput m_ballDetector = new DigitalInput(10);
+ private final DigitalInput m_openDetector = new DigitalInput(6);
+ private final Solenoid m_piston = new Solenoid(1, 1);
+
+ /**
+ * Create a new collector subsystem.
+ */
+ public Collector() {
+ // Put everything to the LiveWindow for testing.
+ addChild("Roller Motor", (Victor) m_rollerMotor);
+ addChild("Ball Detector", m_ballDetector);
+ addChild("Claw Open Detector", m_openDetector);
+ addChild("Piston", m_piston);
+ }
+
+ /**
+ * Whether or not the robot has the ball.
+ *
+ * <p>NOTE: The current simulation model uses the the lower part of the claw
+ * since the limit switch wasn't exported. At some point, this will be
+ * updated.
+ *
+ * @return Whether or not the robot has the ball.
+ */
+ public boolean hasBall() {
+ return m_ballDetector.get(); // TODO: prepend ! to reflect real robot
+ }
+
+ /**
+ * Set the speed to spin the collector rollers.
+ *
+ * @param speed The speed to spin the rollers.
+ */
+ public void setSpeed(double speed) {
+ m_rollerMotor.set(-speed);
+ }
+
+ /**
+ * Stop the rollers from spinning.
+ */
+ public void stop() {
+ m_rollerMotor.set(0);
+ }
+
+ /**
+ * Wether or not the claw is open.
+ *
+ * @return Whether or not the claw is open.
+ */
+ public boolean isOpen() {
+ return m_openDetector.get(); // TODO: prepend ! to reflect real robot
+ }
+
+ /**
+ * Open the claw up (For shooting).
+ */
+ public void open() {
+ m_piston.set(true);
+ }
+
+ /**
+ * Close the claw (For collecting and driving).
+ */
+ @Override
+ public void close() {
+ m_piston.set(false);
+ }
+
+ /**
+ * No default command.
+ */
+ @Override
+ protected void initDefaultCommand() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
new file mode 100644
index 0000000..d27347d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java
@@ -0,0 +1,143 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogGyro;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PIDSourceType;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
+
+/**
+ * The DriveTrain subsystem controls the robot's chassis and reads in
+ * information about it's speed and position.
+ */
+public class DriveTrain extends Subsystem {
+ // Subsystem devices
+ private final SpeedController m_frontLeftCIM = new Victor(1);
+ private final SpeedController m_frontRightCIM = new Victor(2);
+ private final SpeedController m_rearLeftCIM = new Victor(3);
+ private final SpeedController m_rearRightCIM = new Victor(4);
+ private final SpeedControllerGroup m_leftCIMs = new SpeedControllerGroup(
+ m_frontLeftCIM, m_rearLeftCIM);
+ private final SpeedControllerGroup m_rightCIMs = new SpeedControllerGroup(
+ m_frontRightCIM, m_rearRightCIM);
+ private final DifferentialDrive m_drive;
+ private final Encoder m_rightEncoder = new Encoder(1, 2, true, EncodingType.k4X);
+ private final Encoder m_leftEncoder = new Encoder(3, 4, false, EncodingType.k4X);
+ private final AnalogGyro m_gyro = new AnalogGyro(0);
+
+ /**
+ * Create a new drive train subsystem.
+ */
+ public DriveTrain() {
+ // Configure drive motors
+ addChild("Front Left CIM", (Victor) m_frontLeftCIM);
+ addChild("Front Right CIM", (Victor) m_frontRightCIM);
+ addChild("Back Left CIM", (Victor) m_rearLeftCIM);
+ addChild("Back Right CIM", (Victor) m_rearRightCIM);
+
+ // Configure the DifferentialDrive to reflect the fact that all motors
+ // are wired backwards (right is inverted in DifferentialDrive).
+ m_leftCIMs.setInverted(true);
+ m_drive = new DifferentialDrive(m_leftCIMs, m_rightCIMs);
+ m_drive.setSafetyEnabled(true);
+ m_drive.setExpiration(0.1);
+ m_drive.setMaxOutput(1.0);
+
+ // Configure encoders
+ m_rightEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
+ m_leftEncoder.setPIDSourceType(PIDSourceType.kDisplacement);
+
+ if (Robot.isReal()) { // Converts to feet
+ m_rightEncoder.setDistancePerPulse(0.0785398);
+ m_leftEncoder.setDistancePerPulse(0.0785398);
+ } else {
+ // Convert to feet 4in diameter wheels with 360 tick sim encoders
+ m_rightEncoder.setDistancePerPulse(
+ (4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */));
+ m_leftEncoder.setDistancePerPulse(
+ (4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */));
+ }
+
+ addChild("Right Encoder", m_rightEncoder);
+ addChild("Left Encoder", m_leftEncoder);
+
+ // Configure gyro
+ if (Robot.isReal()) {
+ m_gyro.setSensitivity(0.007); // TODO: Handle more gracefully?
+ }
+ addChild("Gyro", m_gyro);
+ }
+
+ /**
+ * When other commands aren't using the drivetrain, allow tank drive with
+ * the joystick.
+ */
+ @Override
+ public void initDefaultCommand() {
+ setDefaultCommand(new DriveWithJoystick());
+ }
+
+ /**
+ * Tank drive using a PS3 joystick.
+ *
+ * @param joy PS3 style joystick to use as the input for tank drive.
+ */
+ public void tankDrive(Joystick joy) {
+ m_drive.tankDrive(joy.getY(), joy.getRawAxis(4));
+ }
+
+ /**
+ * Tank drive using individual joystick axes.
+ *
+ * @param leftAxis Left sides value
+ * @param rightAxis Right sides value
+ */
+ public void tankDrive(double leftAxis, double rightAxis) {
+ m_drive.tankDrive(leftAxis, rightAxis);
+ }
+
+ /**
+ * Stop the drivetrain from moving.
+ */
+ public void stop() {
+ m_drive.tankDrive(0, 0);
+ }
+
+ /**
+ * The encoder getting the distance and speed of left side of the
+ * drivetrain.
+ */
+ public Encoder getLeftEncoder() {
+ return m_leftEncoder;
+ }
+
+ /**
+ * The encoder getting the distance and speed of right side of the
+ * drivetrain.
+ */
+ public Encoder getRightEncoder() {
+ return m_rightEncoder;
+ }
+
+ /**
+ * The current angle of the drivetrain as measured by the Gyro.
+ */
+ public double getAngle() {
+ return m_gyro.getAngle();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
new file mode 100644
index 0000000..44e197c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java
@@ -0,0 +1,107 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.Victor;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
+import edu.wpi.first.wpilibj.interfaces.Potentiometer;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * The Pivot subsystem contains the Van-door motor and the pot for PID control
+ * of angle of the pivot and claw.
+ */
+public class Pivot extends PIDSubsystem {
+ // Constants for some useful angles
+ public static final double kCollect = 105;
+ public static final double kLowGoal = 90;
+ public static final double kShoot = 45;
+ public static final double kShootNear = 30;
+
+ // Sensors for measuring the position of the pivot.
+ private final DigitalInput m_upperLimitSwitch = new DigitalInput(13);
+ private final DigitalInput m_lowerLimitSwitch = new DigitalInput(12);
+
+ // 0 degrees is vertical facing up.
+ // Angle increases the more forward the pivot goes.
+ private final Potentiometer m_pot = new AnalogPotentiometer(1);
+
+ // Motor to move the pivot.
+ private final SpeedController m_motor = new Victor(5);
+
+ /**
+ * Create a new pivot subsystem.
+ */
+ public Pivot() {
+ super("Pivot", 7.0, 0.0, 8.0);
+ setAbsoluteTolerance(0.005);
+ getPIDController().setContinuous(false);
+ if (Robot.isSimulation()) { // PID is different in simulation.
+ getPIDController().setPID(0.5, 0.001, 2);
+ setAbsoluteTolerance(5);
+ }
+
+ // Put everything to the LiveWindow for testing.
+ addChild("Upper Limit Switch", m_upperLimitSwitch);
+ addChild("Lower Limit Switch", m_lowerLimitSwitch);
+ addChild("Pot", (AnalogPotentiometer) m_pot);
+ addChild("Motor", (Victor) m_motor);
+ addChild("PIDSubsystem Controller", getPIDController());
+ }
+
+ /**
+ * No default command, if PID is enabled, the current setpoint will be
+ * maintained.
+ */
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ /**
+ * The angle read in by the potentiometer.
+ */
+ @Override
+ protected double returnPIDInput() {
+ return m_pot.get();
+ }
+
+ /**
+ * Set the motor speed based off of the PID output.
+ */
+ @Override
+ protected void usePIDOutput(double output) {
+ m_motor.pidWrite(output);
+ }
+
+ /**
+ * If the pivot is at its upper limit.
+ */
+ public boolean isAtUpperLimit() {
+ // TODO: inverted from real robot (prefix with !)
+ return m_upperLimitSwitch.get();
+ }
+
+ /**
+ * If the pivot is at its lower limit.
+ */
+ public boolean isAtLowerLimit() {
+ // TODO: inverted from real robot (prefix with !)
+ return m_lowerLimitSwitch.get();
+ }
+
+ /**
+ * The current angle of the pivot.
+ */
+ public double getAngle() {
+ return m_pot.get();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java
new file mode 100644
index 0000000..88dc838
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
+
+/**
+ * The Pneumatics subsystem contains a pressure sensor.
+ *
+ * <p>NOTE: The simulator currently doesn't support the compressor or pressure
+ * sensors.
+ */
+public class Pneumatics extends Subsystem {
+ AnalogInput m_pressureSensor = new AnalogInput(3);
+
+ private static final double kMaxPressure = 2.55;
+
+ public Pneumatics() {
+ addChild("Pressure Sensor", m_pressureSensor);
+ }
+
+ /**
+ * No default command.
+ */
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ /**
+ * Whether or not the system is fully pressurized.
+ */
+ public boolean isPressurized() {
+ if (Robot.isReal()) {
+ return kMaxPressure <= m_pressureSensor.getVoltage();
+ } else {
+ return true; // NOTE: Simulation always has full pressure
+ }
+ }
+
+ /**
+ * Puts the pressure on the SmartDashboard.
+ */
+ public void writePressure() {
+ SmartDashboard.putNumber("Pressure", m_pressureSensor.getVoltage());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java
new file mode 100644
index 0000000..5c70e71
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java
@@ -0,0 +1,177 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * The Shooter subsystem handles shooting. The mechanism for shooting is
+ * slightly complicated because it has to pneumatic cylinders for shooting, and
+ * a third latch to allow the pressure to partially build up and reduce the
+ * effect of the airflow. For shorter shots, when full power isn't needed, only
+ * one cylinder fires.
+ *
+ * <p>NOTE: Simulation currently approximates this as as single pneumatic
+ * cylinder and ignores the latch.
+ */
+@SuppressWarnings("PMD.TooManyMethods")
+public class Shooter extends Subsystem {
+ // Devices
+ DoubleSolenoid m_piston1 = new DoubleSolenoid(1, 3, 4);
+ DoubleSolenoid m_piston2 = new DoubleSolenoid(1, 5, 6);
+ Solenoid m_latchPiston = new Solenoid(1, 2);
+ DigitalInput m_piston1ReedSwitchFront = new DigitalInput(9);
+ DigitalInput m_piston1ReedSwitchBack = new DigitalInput(11);
+ //NOTE: currently ignored in simulation
+ DigitalInput m_hotGoalSensor = new DigitalInput(7);
+
+ /**
+ * Create a new shooter subsystem.
+ */
+ public Shooter() {
+ // Put everything to the LiveWindow for testing.
+ addChild("Hot Goal Sensor", m_hotGoalSensor);
+ addChild("Piston1 Reed Switch Front ", m_piston1ReedSwitchFront);
+ addChild("Piston1 Reed Switch Back ", m_piston1ReedSwitchBack);
+ addChild("Latch Piston", m_latchPiston);
+ }
+
+ /**
+ * No default command.
+ */
+ @Override
+ public void initDefaultCommand() {
+ }
+
+ /**
+ * Extend both solenoids to shoot.
+ */
+ public void extendBoth() {
+ m_piston1.set(DoubleSolenoid.Value.kForward);
+ m_piston2.set(DoubleSolenoid.Value.kForward);
+ }
+
+ /**
+ * Retract both solenoids to prepare to shoot.
+ */
+ public void retractBoth() {
+ m_piston1.set(DoubleSolenoid.Value.kReverse);
+ m_piston2.set(DoubleSolenoid.Value.kReverse);
+ }
+
+ /**
+ * Extend solenoid 1 to shoot.
+ */
+ public void extend1() {
+ m_piston1.set(DoubleSolenoid.Value.kForward);
+ }
+
+ /**
+ * Retract solenoid 1 to prepare to shoot.
+ */
+ public void retract1() {
+ m_piston1.set(DoubleSolenoid.Value.kReverse);
+ }
+
+ /**
+ * Extend solenoid 2 to shoot.
+ */
+ public void extend2() {
+ m_piston2.set(DoubleSolenoid.Value.kReverse);
+ }
+
+ /**
+ * Retract solenoid 2 to prepare to shoot.
+ */
+ public void retract2() {
+ m_piston2.set(DoubleSolenoid.Value.kForward);
+ }
+
+ /**
+ * Turns off the piston1 double solenoid. This won't actuate anything
+ * because double solenoids preserve their state when turned off. This
+ * should be called in order to reduce the amount of time that the coils
+ * are powered.
+ */
+ public void off1() {
+ m_piston1.set(DoubleSolenoid.Value.kOff);
+ }
+
+ /**
+ * Turns off the piston2 double solenoid. This won't actuate anything
+ * because double solenoids preserve their state when turned off. This
+ * should be called in order to reduce the amount of time that the coils
+ * are powered.
+ */
+ public void off2() {
+ m_piston2.set(DoubleSolenoid.Value.kOff);
+ }
+
+ /**
+ * Release the latch so that we can shoot.
+ */
+ public void unlatch() {
+ m_latchPiston.set(true);
+ }
+
+ /**
+ * Latch so that pressure can build up and we aren't limited by air flow.
+ */
+ public void latch() {
+ m_latchPiston.set(false);
+ }
+
+ /**
+ * Toggles the latch postions.
+ */
+ public void toggleLatchPosition() {
+ m_latchPiston.set(!m_latchPiston.get());
+ }
+
+ /**
+ * Is Piston 1 extended (after shooting).
+ *
+ * @return Whether or not piston 1 is fully extended.
+ */
+ public boolean piston1IsExtended() {
+ return !m_piston1ReedSwitchFront.get();
+ }
+
+ /**
+ * Is Piston 1 retracted (before shooting).
+ *
+ * @return Whether or not piston 1 is fully retracted.
+ */
+ public boolean piston1IsRetracted() {
+ return !m_piston1ReedSwitchBack.get();
+ }
+
+ /**
+ * Turns off all double solenoids. Double solenoids hold their position when
+ * they are turned off. We should turn them off whenever possible to extend
+ * the life of the coils.
+ */
+ public void offBoth() {
+ m_piston1.set(DoubleSolenoid.Value.kOff);
+ m_piston2.set(DoubleSolenoid.Value.kOff);
+ }
+
+ /**
+ * Return whether the goal is hot as read by the banner sensor.
+ *
+ * <p>NOTE: doesn't work in simulation.
+ *
+ * @return Whether or not the goal is hot
+ */
+ public boolean goalIsHot() {
+ return m_hotGoalSensor.get();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
new file mode 100644
index 0000000..e795593
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/triggers/DoubleButton.java
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.pacgoat.triggers;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.Trigger;
+
+/**
+ * A custom button that is triggered when two buttons on a Joystick are
+ * simultaneously pressed.
+ */
+public class DoubleButton extends Trigger {
+ private final Joystick m_joy;
+ private final int m_button1;
+ private final int m_button2;
+
+ /**
+ * Create a new double button trigger.
+ * @param joy The joystick
+ * @param button1 The first button
+ * @param button2 The second button
+ */
+ public DoubleButton(Joystick joy, int button1, int button2) {
+ this.m_joy = joy;
+ this.m_button1 = button1;
+ this.m_button2 = button2;
+ }
+
+ @Override
+ public boolean get() {
+ return m_joy.getRawButton(m_button1) && m_joy.getRawButton(m_button2);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java
new file mode 100644
index 0000000..72b9454
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.potentiometerpid;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
new file mode 100644
index 0000000..302ce16
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/potentiometerpid/Robot.java
@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.potentiometerpid;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PIDController;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * This is a sample program to demonstrate how to use a soft potentiometer and a
+ * PID controller to reach and maintain position setpoints on an elevator
+ * mechanism.
+ */
+public class Robot extends TimedRobot {
+ private static final int kPotChannel = 1;
+ private static final int kMotorChannel = 7;
+ private static final int kJoystickChannel = 0;
+
+ // bottom, middle, and top elevator setpoints
+ private static final double[] kSetPoints = {1.0, 2.6, 4.3};
+
+ // proportional, integral, and derivative speed constants; motor inverted
+ // DANGER: when tuning PID constants, high/inappropriate values for kP, kI,
+ // and kD may cause dangerous, uncontrollable, or undesired behavior!
+ // these may need to be positive for a non-inverted motor
+ private static final double kP = -5.0;
+ private static final double kI = -0.02;
+ private static final double kD = -2.0;
+
+ private PIDController m_pidController;
+ @SuppressWarnings("PMD.SingularField")
+ private AnalogInput m_potentiometer;
+ @SuppressWarnings("PMD.SingularField")
+ private SpeedController m_elevatorMotor;
+ private Joystick m_joystick;
+
+ private int m_index;
+ private boolean m_previousButtonValue;
+
+ @Override
+ public void robotInit() {
+ m_potentiometer = new AnalogInput(kPotChannel);
+ m_elevatorMotor = new PWMVictorSPX(kMotorChannel);
+ m_joystick = new Joystick(kJoystickChannel);
+
+ m_pidController = new PIDController(kP, kI, kD, m_potentiometer, m_elevatorMotor);
+ m_pidController.setInputRange(0, 5);
+ }
+
+ @Override
+ public void teleopInit() {
+ m_pidController.enable();
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ // when the button is pressed once, the selected elevator setpoint
+ // is incremented
+ boolean currentButtonValue = m_joystick.getTrigger();
+ if (currentButtonValue && !m_previousButtonValue) {
+ // index of the elevator setpoint wraps around.
+ m_index = (m_index + 1) % kSetPoints.length;
+ }
+ m_previousButtonValue = currentButtonValue;
+
+ m_pidController.setSetpoint(kSetPoints[m_index]);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java
new file mode 100644
index 0000000..be7edc6
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.quickvision;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
new file mode 100644
index 0000000..9816f13
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/quickvision/Robot.java
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.quickvision;
+
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * Uses the CameraServer class to automatically capture video from a USB webcam
+ * and send it to the FRC dashboard without doing any vision processing. This
+ * is the easiest way to get camera images to the dashboard. Just add this to
+ * the robotInit() method in your program.
+ */
+public class Robot extends TimedRobot {
+ @Override
+ public void robotInit() {
+ CameraServer.getInstance().startAutomaticCapture();
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
new file mode 100644
index 0000000..d2283df
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.shuffleboard;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
new file mode 100644
index 0000000..7f59e14
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/shuffleboard/Robot.java
@@ -0,0 +1,63 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.shuffleboard;
+
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+
+public class Robot extends TimedRobot {
+ private final DifferentialDrive m_tankDrive = new DifferentialDrive(new PWMVictorSPX(0),
+ new PWMVictorSPX(1));
+ private final Encoder m_leftEncoder = new Encoder(0, 1);
+ private final Encoder m_rightEncoder = new Encoder(2, 3);
+
+ private final PWMVictorSPX m_elevatorMotor = new PWMVictorSPX(2);
+ private final AnalogPotentiometer m_elevatorPot = new AnalogPotentiometer(0);
+ private NetworkTableEntry m_maxSpeed;
+
+ @Override
+ public void robotInit() {
+ // Add a 'max speed' widget to a tab named 'Configuration', using a number slider
+ // The widget will be placed in the second column and row and will be two columns wide
+ m_maxSpeed = Shuffleboard.getTab("Configuration")
+ .add("Max Speed", 1)
+ .withWidget("Number Slider")
+ .withPosition(1, 1)
+ .withSize(2, 1)
+ .getEntry();
+
+ // Add the tank drive and encoders to a 'Drivebase' tab
+ ShuffleboardTab driveBaseTab = Shuffleboard.getTab("Drivebase");
+ driveBaseTab.add("Tank Drive", m_tankDrive);
+ // Put both encoders in a list layout
+ ShuffleboardLayout encoders = driveBaseTab.getLayout("List Layout", "Encoders")
+ .withPosition(0, 0)
+ .withSize(2, 2);
+ encoders.add("Left Encoder", m_leftEncoder);
+ encoders.add("Right Encoder", m_rightEncoder);
+
+ // Add the elevator motor and potentiometer to an 'Elevator' tab
+ ShuffleboardTab elevatorTab = Shuffleboard.getTab("Elevator");
+ elevatorTab.add("Motor", m_elevatorMotor);
+ elevatorTab.add("Potentiometer", m_elevatorPot);
+ }
+
+ @Override
+ public void autonomousInit() {
+ // Read the value of the 'max speed' widget from the dashboard
+ m_tankDrive.setMaxOutput(m_maxSpeed.getDouble(1.0));
+ }
+
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java
new file mode 100644
index 0000000..e1dc017
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.tankdrive;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
new file mode 100755
index 0000000..b8a9202
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/tankdrive/Robot.java
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.tankdrive;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class, specifically
+ * it contains the code necessary to operate a robot with tank drive.
+ */
+public class Robot extends TimedRobot {
+ private DifferentialDrive m_myRobot;
+ private Joystick m_leftStick;
+ private Joystick m_rightStick;
+
+ @Override
+ public void robotInit() {
+ m_myRobot = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
+ m_leftStick = new Joystick(0);
+ m_rightStick = new Joystick(1);
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ m_myRobot.tankDrive(m_leftStick.getY(), m_rightStick.getY());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
new file mode 100644
index 0000000..edf56f8
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.ultrasonic;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
new file mode 100644
index 0000000..e03c66c
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonic/Robot.java
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.ultrasonic;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a sample program demonstrating how to use an ultrasonic sensor and
+ * proportional control to maintain a set distance from an object.
+ */
+
+public class Robot extends TimedRobot {
+ // distance in inches the robot wants to stay from an object
+ private static final double kHoldDistance = 12.0;
+
+ // factor to convert sensor values to a distance in inches
+ private static final double kValueToInches = 0.125;
+
+ // proportional speed constant
+ private static final double kP = 0.05;
+
+ private static final int kLeftMotorPort = 0;
+ private static final int kRightMotorPort = 1;
+ private static final int kUltrasonicPort = 0;
+
+ private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
+ private final DifferentialDrive m_robotDrive
+ = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+ new PWMVictorSPX(kRightMotorPort));
+
+ /**
+ * Tells the robot to drive to a set distance (in inches) from an object
+ * using proportional control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ // sensor returns a value from 0-4095 that is scaled to inches
+ double currentDistance = m_ultrasonic.getValue() * kValueToInches;
+
+ // convert distance error to a motor speed
+ double currentSpeed = (kHoldDistance - currentDistance) * kP;
+
+ // drive robot
+ m_robotDrive.arcadeDrive(currentSpeed, 0);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
new file mode 100644
index 0000000..b8bffc7
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.examples.ultrasonicpid;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
new file mode 100644
index 0000000..cc80432
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ultrasonicpid/Robot.java
@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.examples.ultrasonicpid;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.PIDController;
+import edu.wpi.first.wpilibj.PIDOutput;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a sample program to demonstrate the use of a PIDController with an
+ * ultrasonic sensor to reach and maintain a set distance from an object.
+ */
+public class Robot extends TimedRobot {
+ // distance in inches the robot wants to stay from an object
+ private static final double kHoldDistance = 12.0;
+
+ // maximum distance in inches we expect the robot to see
+ private static final double kMaxDistance = 24.0;
+
+ // factor to convert sensor values to a distance in inches
+ private static final double kValueToInches = 0.125;
+
+ // proportional speed constant
+ private static final double kP = 7.0;
+
+ // integral speed constant
+ private static final double kI = 0.018;
+
+ // derivative speed constant
+ private static final double kD = 1.5;
+
+ private static final int kLeftMotorPort = 0;
+ private static final int kRightMotorPort = 1;
+ private static final int kUltrasonicPort = 0;
+
+ private final AnalogInput m_ultrasonic = new AnalogInput(kUltrasonicPort);
+ private final DifferentialDrive m_robotDrive
+ = new DifferentialDrive(new PWMVictorSPX(kLeftMotorPort),
+ new PWMVictorSPX(kRightMotorPort));
+ private final PIDController m_pidController
+ = new PIDController(kP, kI, kD, m_ultrasonic, new MyPidOutput());
+
+ /**
+ * Drives the robot a set distance from an object using PID control and the
+ * ultrasonic sensor.
+ */
+ @Override
+ public void teleopInit() {
+ // Set expected range to 0-24 inches; e.g. at 24 inches from object go
+ // full forward, at 0 inches from object go full backward.
+ m_pidController.setInputRange(0, kMaxDistance * kValueToInches);
+ // Set setpoint of the pid controller
+ m_pidController.setSetpoint(kHoldDistance * kValueToInches);
+ m_pidController.enable(); // begin PID control
+ }
+
+ private class MyPidOutput implements PIDOutput {
+ @Override
+ public void pidWrite(double output) {
+ m_robotDrive.arcadeDrive(output, 0);
+ }
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
new file mode 100644
index 0000000..84ddea4
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.commandbased;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java
new file mode 100644
index 0000000..990eb2a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/OI.java
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.commandbased;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+ //// CREATING BUTTONS
+ // One type of button is a joystick button which is any button on a
+ //// joystick.
+ // You create one by telling it which joystick it's on and which button
+ // number it is.
+ // Joystick stick = new Joystick(port);
+ // Button button = new JoystickButton(stick, buttonNumber);
+
+ // There are a few additional built in buttons you can use. Additionally,
+ // by subclassing Button you can create custom triggers and bind those to
+ // commands the same as any other Button.
+
+ //// TRIGGERING COMMANDS WITH BUTTONS
+ // Once you have a button, it's trivial to bind it to a button in one of
+ // three ways:
+
+ // Start the command when the button is pressed and let it run the command
+ // until it is finished as determined by it's isFinished method.
+ // button.whenPressed(new ExampleCommand());
+
+ // Run the command while the button is being held down and interrupt it once
+ // the button is released.
+ // button.whileHeld(new ExampleCommand());
+
+ // 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());
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
new file mode 100644
index 0000000..7727bff
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java
@@ -0,0 +1,131 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.commandbased;
+
+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.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
+import edu.wpi.first.wpilibj.templates.commandbased.subsystems.ExampleSubsystem;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
+ public static OI m_oi;
+
+ Command m_autonomousCommand;
+ SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+ /**
+ * This function is run when the robot is first started up and should be
+ * used for any initialization code.
+ */
+ @Override
+ public void robotInit() {
+ m_oi = new OI();
+ m_chooser.setDefaultOption("Default Auto", new ExampleCommand());
+ // chooser.addOption("My Auto", new MyAutoCommand());
+ SmartDashboard.putData("Auto mode", m_chooser);
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ }
+
+ /**
+ * 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() {
+ }
+
+ @Override
+ public void disabledPeriodic() {
+ Scheduler.getInstance().run();
+ }
+
+ /**
+ * 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
+ *
+ * <p>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.
+ */
+ @Override
+ public void autonomousInit() {
+ m_autonomousCommand = m_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; }
+ */
+
+ // schedule the autonomous command (example)
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.start();
+ }
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ Scheduler.getInstance().run();
+ }
+
+ @Override
+ public void teleopInit() {
+ // This makes sure that the autonomous stops running when
+ // teleop starts running. If you want the autonomous to
+ // continue until interrupted by another command, remove
+ // this line or comment it out.
+ if (m_autonomousCommand != null) {
+ m_autonomousCommand.cancel();
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ Scheduler.getInstance().run();
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java
new file mode 100644
index 0000000..ef213c4
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/RobotMap.java
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.commandbased;
+
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+ // For example to map the left and right motors, you could define the
+ // following variables to use with your drivetrain subsystem.
+ // public static int leftMotor = 1;
+ // public static int rightMotor = 2;
+
+ // If you are using multiple modules, make sure to define both the port
+ // number and the module. For example you with a rangefinder:
+ // public static int rangefinderPort = 1;
+ // public static int rangefinderModule = 1;
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
new file mode 100644
index 0000000..10ceb6e
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/commands/ExampleCommand.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.commandbased.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.templates.commandbased.Robot;
+
+/**
+ * An example command. You can replace me with your own command.
+ */
+public class ExampleCommand extends Command {
+ public ExampleCommand() {
+ // Use requires() here to declare subsystem dependencies
+ requires(Robot.m_subsystem);
+ }
+
+ // Called just before this Command runs the first time
+ @Override
+ protected void initialize() {
+ }
+
+ // Called repeatedly when this Command is scheduled to run
+ @Override
+ protected void execute() {
+ }
+
+ // Make this return true when this Command no longer needs to run execute()
+ @Override
+ protected boolean isFinished() {
+ return false;
+ }
+
+ // Called once after isFinished returns true
+ @Override
+ protected void end() {
+ }
+
+ // Called when another command which requires one or more of the same
+ // subsystems is scheduled to run
+ @Override
+ protected void interrupted() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
new file mode 100644
index 0000000..a03b73f
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.commandbased.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * An example subsystem. You can replace me with your own Subsystem.
+ */
+public class ExampleSubsystem extends Subsystem {
+ // Put methods for controlling this subsystem
+ // here. Call these from Commands.
+
+ @Override
+ public void initDefaultCommand() {
+ // Set the default command for a subsystem here.
+ // setDefaultCommand(new MySpecialCommand());
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Main.java
new file mode 100644
index 0000000..d7f6e26
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.iterative;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
new file mode 100644
index 0000000..7f38b8a
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/iterative/Robot.java
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.iterative;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+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.gradle file in the
+ * project.
+ */
+public class Robot extends IterativeRobot {
+ private static final String kDefaultAuto = "Default";
+ private static final String kCustomAuto = "My Auto";
+ private String m_autoSelected;
+ private final SendableChooser<String> m_chooser = new SendableChooser<>();
+
+ /**
+ * 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.setDefaultOption("Default Auto", kDefaultAuto);
+ m_chooser.addOption("My Auto", kCustomAuto);
+ SmartDashboard.putData("Auto choices", m_chooser);
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ }
+
+ /**
+ * 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();
+ // autoSelected = SmartDashboard.getString("Auto Selector",
+ // defaultAuto);
+ System.out.println("Auto selected: " + m_autoSelected);
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ switch (m_autoSelected) {
+ case kCustomAuto:
+ // Put custom auto code here
+ break;
+ case kDefaultAuto:
+ default:
+ // Put default auto code here
+ break;
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java
new file mode 100644
index 0000000..787aff0
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.sample;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
new file mode 100644
index 0000000..9a670f0
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/sample/Robot.java
@@ -0,0 +1,155 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.sample;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class. The
+ * SampleRobot class is the base of a robot application that will automatically
+ * call your Autonomous and OperatorControl methods at the right time as
+ * controlled by the switches on the driver station or the field controls.
+ *
+ * <p>The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the SampleRobot
+ * 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.
+ *
+ * <p>WARNING: While it may look like a good choice to use for your code if
+ * you're inexperienced, don't. Unless you know what you are doing, complex code
+ * will be much more difficult under this system. Use TimedRobot or
+ * Command-Based instead if you're new.
+ */
+public class Robot extends SampleRobot {
+ private static final String kDefaultAuto = "Default";
+ private static final String kCustomAuto = "My Auto";
+
+ private final DifferentialDrive m_robotDrive
+ = new DifferentialDrive(new PWMVictorSPX(0), new PWMVictorSPX(1));
+ private final Joystick m_stick = new Joystick(0);
+ private final SendableChooser<String> m_chooser = new SendableChooser<>();
+
+ public Robot() {
+ m_robotDrive.setExpiration(0.1);
+ }
+
+ @Override
+ public void robotInit() {
+ m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+ m_chooser.addOption("My Auto", kCustomAuto);
+ SmartDashboard.putData("Auto modes", m_chooser);
+ }
+
+ /**
+ * 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 if-else structure below with additional strings. If using the
+ * SendableChooser make sure to add them to the chooser code above as well.
+ *
+ * <p>If you wanted to run a similar autonomous mode with an TimedRobot
+ * you would write:
+ *
+ * <blockquote><pre>{@code
+ * Timer timer = new Timer();
+ *
+ * // This function is run once each time the robot enters autonomous mode
+ * public void autonomousInit() {
+ * timer.reset();
+ * timer.start();
+ * }
+ *
+ * // This function is called periodically during autonomous
+ * public void autonomousPeriodic() {
+ * // Drive for 2 seconds
+ * if (timer.get() < 2.0) {
+ * myRobot.drive(-0.5, 0.0); // drive forwards half speed
+ * } else if (timer.get() < 5.0) {
+ * myRobot.drive(-1.0, 0.0); // drive forwards full speed
+ * } else {
+ * myRobot.drive(0.0, 0.0); // stop robot
+ * }
+ * }
+ * }</pre></blockquote>
+ */
+ @Override
+ public void autonomous() {
+ String autoSelected = m_chooser.getSelected();
+ // String autoSelected = SmartDashboard.getString("Auto Selector",
+ // defaultAuto);
+ System.out.println("Auto selected: " + autoSelected);
+
+ // MotorSafety improves safety when motors are updated in loops
+ // but is disabled here because motor updates are not looped in
+ // this autonomous mode.
+ m_robotDrive.setSafetyEnabled(false);
+
+ switch (autoSelected) {
+ case kCustomAuto:
+ // Spin at half speed for two seconds
+ m_robotDrive.arcadeDrive(0.0, 0.5);
+ Timer.delay(2.0);
+
+ // Stop robot
+ m_robotDrive.arcadeDrive(0.0, 0.0);
+ break;
+ case kDefaultAuto:
+ default:
+ // Drive forwards for two seconds
+ m_robotDrive.arcadeDrive(-0.5, 0.0);
+ Timer.delay(2.0);
+
+ // Stop robot
+ m_robotDrive.arcadeDrive(0.0, 0.0);
+ break;
+ }
+ }
+
+ /**
+ * Runs the motors with arcade steering.
+ *
+ * <p>If you wanted to run a similar teleoperated mode with an TimedRobot
+ * you would write:
+ *
+ * <blockquote><pre>{@code
+ * // This function is called periodically during operator control
+ * public void teleopPeriodic() {
+ * myRobot.arcadeDrive(stick);
+ * }
+ * }</pre></blockquote>
+ */
+ @Override
+ public void operatorControl() {
+ m_robotDrive.setSafetyEnabled(true);
+ while (isOperatorControl() && isEnabled()) {
+ // Drive arcade style
+ m_robotDrive.arcadeDrive(-m_stick.getY(), m_stick.getX());
+
+ // The motors will be updated every 5ms
+ Timer.delay(0.005);
+ }
+ }
+
+ /**
+ * Runs during test mode.
+ */
+ @Override
+ public void test() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
new file mode 100644
index 0000000..430da80
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/templates.json
@@ -0,0 +1,52 @@
+[
+ {
+ "name": "Iterative Robot",
+ "description": "Iterative style",
+ "tags": [
+ "Iterative"
+ ],
+ "foldername": "iterative",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Timed Robot",
+ "description": "Timed style",
+ "tags": [
+ "Timed"
+ ],
+ "foldername": "timed",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Timed Skeleton (Advanced)",
+ "description": "Skeleton (stub) code for TimedRobot",
+ "tags": [
+ "Timed", "Skeleton"
+ ],
+ "foldername": "timedskeleton",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Command Robot",
+ "description": "Command style",
+ "tags": [
+ "Command"
+ ],
+ "foldername": "commandbased",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ },
+ {
+ "name": "Sample Robot",
+ "description": "Sample style",
+ "tags": [
+ "Sample"
+ ],
+ "foldername": "sample",
+ "gradlebase": "java",
+ "mainclass": "Main"
+ }
+]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java
new file mode 100644
index 0000000..4cc64e0
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.timed;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
new file mode 100644
index 0000000..9930de7
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timed/Robot.java
@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.templates.timed;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+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 TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle 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 final SendableChooser<String> m_chooser = new SendableChooser<>();
+
+ /**
+ * 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.setDefaultOption("Default Auto", kDefaultAuto);
+ m_chooser.addOption("My Auto", kCustomAuto);
+ SmartDashboard.putData("Auto choices", m_chooser);
+ }
+
+ /**
+ * This function is called every robot packet, no matter the mode. Use
+ * this for items like diagnostics that you want ran during disabled,
+ * autonomous, teleoperated and test.
+ *
+ * <p>This runs after the mode specific periodic functions, but before
+ * LiveWindow and SmartDashboard integrated updating.
+ */
+ @Override
+ public void robotPeriodic() {
+ }
+
+ /**
+ * 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);
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ switch (m_autoSelected) {
+ case kCustomAuto:
+ // Put custom auto code here
+ break;
+ case kDefaultAuto:
+ default:
+ // Put default auto code here
+ break;
+ }
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java
new file mode 100644
index 0000000..6a895ba
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.timedskeleton;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * <p>If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
new file mode 100644
index 0000000..9ec7991
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/timedskeleton/Robot.java
@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 edu.wpi.first.wpilibj.templates.timedskeleton;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ /**
+ * This function is run when the robot is first started up and should be used
+ * for any initialization code.
+ */
+ @Override
+ public void robotInit() {
+ }
+
+ @Override
+ public void autonomousInit() {
+ }
+
+ @Override
+ public void autonomousPeriodic() {
+ }
+
+ @Override
+ public void teleopInit() {
+ }
+
+ @Override
+ public void teleopPeriodic() {
+ }
+
+ @Override
+ public void testInit() {
+ }
+
+ @Override
+ public void testPeriodic() {
+ }
+
+}