Working Code for Robot In Progress

Author: Asymons

Raider/build/org/usfirst/frc/team4716/robot/Robot.class

@@ -1,9 +1,8 @@
 
 package org.usfirst.frc.team4716.robot;
 
-import java.io.FileReader;
-
 import org.usfirst.frc.team4716.robot.commands.Auto.DoNothing;
+import org.usfirst.frc.team4716.robot.commands.DriveTrain.DriveForwardTime;
 import org.usfirst.frc.team4716.robot.subsystems.DriveTrain;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
@@ -36,6 +35,7 @@ public void robotInit() {
 		oi = new OI();
         chooser = new SendableChooser();
         chooser.addDefault("Nothing", new DoNothing());
+        chooser.addObject("Drive Forward Time", new DriveForwardTime(1.0,5.0));
 //        chooser.addObject("Low Goal", object);
 
         SmartDashboard.putData("Auto mode", chooser);
@@ -101,6 +101,7 @@ public void teleopInit() {
      */
     public void teleopPeriodic() {
         Scheduler.getInstance().run();
+        System.out.println(Robot.drivetrain.getUltrasonicLeft());
     }
 
     /**

Raider/build/org/usfirst/frc/team4716/robot/subsystems/Bucket$Direction.class

@@ -14,35 +14,35 @@
  */
 public class Bucket extends Subsystem {
 
-//	public enum Direction {
-//		UP, DOWN
-//	}
-//	
-//	SpeedController MOTOR_BUCKET_OPS,
-//					MOTOR_BALL_INTAKE;
-//	
-//	DigitalInput LIMIT_UP,
-//				 LIMIT_DOWN;
-//	
-//	DoubleSolenoid PISTON_EJECT;
-//	boolean isPoked;
-//
-//	Thread BACKGROUND_JOB;
+	public enum Direction {
+		UP, DOWN
+	}
+	
+	SpeedController MOTOR_BUCKET_OPS,
+					MOTOR_BALL_INTAKE;
+	
+	DigitalInput LIMIT_UP,
+				 LIMIT_DOWN;
+	
+	DoubleSolenoid PISTON_EJECT;
+	boolean isPoked;
+
+	Thread BACKGROUND_JOB;
 //	
 	public Bucket(){
 //
-//		MOTOR_BUCKET_OPS = new Talon(RobotMap.MOTOR_BUCKET_OPS_PORT);
-//		MOTOR_BALL_INTAKE = new Talon(RobotMap.MOTOR_BALL_INTAKE_PORT);
-//		
-//		LIMIT_UP = new DigitalInput(RobotMap.SWTICH_UP_PORT);
-//		LIMIT_DOWN = new DigitalInput(RobotMap.SWITCH_DOWN_PORT);
-//		
-//		PISTON_EJECT = new DoubleSolenoid(RobotMap.PISTON_EJECT_MODULE_NUMBER
-//										, RobotMap.PISTON_EJECT_FORWARD_CHANNEL
-//										, RobotMap.PISTON_EJECT_REVERSE_CHANNEL);
-//		PISTON_EJECT.set(DoubleSolenoid.Value.kReverse);
-//		isPoked = false;
-//		
+		MOTOR_BUCKET_OPS = new Talon(2);
+		MOTOR_BALL_INTAKE = new Talon(3);
+		
+		LIMIT_UP = new DigitalInput(0);
+		LIMIT_DOWN = new DigitalInput(1);
+		
+		PISTON_EJECT = new DoubleSolenoid(1
+										, 0
+										, 1);
+		PISTON_EJECT.set(DoubleSolenoid.Value.kReverse);
+		isPoked = false;
+		
 //		BACKGROUND_JOB = new Thread(new BucketBackgroundTask(this.MOTOR_BALL_INTAKE));
 //		BACKGROUND_JOB.start();
 	}

Raider/build/org/usfirst/frc/team4716/robot/subsystems/Bucket.class

@@ -65,6 +65,8 @@ public DriveTrain(){
 		SOLENOID_DRIVE_BACK_RIGHT = new DoubleSolenoid(0,6,7);
 		SOLENOID = new DoubleSolenoid(1, 0, 1);
 
+		ultrasonicLeft = new Ultrasonic(0,1);
+		
 //		/*Encoder Initialzation*/
 //		encoderDriveLeft = new Encoder(RobotMap.ENCODER_DRIVE_LEFT_PORT_A, RobotMap.ENCODER_DRIVE_LEFT_PORT_B);
 //		encoderDriveRight = new Encoder(RobotMap.ENCODER_DRIVE_RIGHT_PORT_A, RobotMap.ENCODER_DRIVE_RIGHT_PORT_B);
@@ -183,6 +185,10 @@ public double getGyro(){
     	return gyro.getAngle();
     }
 
+    public double getUltrasonicLeft(){
+    	return ultrasonicLeft.getRangeInches();
+    }
+    
 
     // AUTONOMOUS METHODS