Merged dev1 into master at v1.08, confirmed working

.gitignore

@@ -7,6 +7,7 @@
 .Trashes
 ehthumbs.db
 Thumbs.db
+__MACOSX
 
 # NetBeans specific #
 nbproject/private/

src/com/frc2879/bender/GamepadXbox.java

@@ -0,0 +1,134 @@
+/*
+ * To change this license header, choose License Headers in Project Properties.
+ * To change this template file, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+package com.frc2879.bender;
+
+/**
+ *
+ * @author floogulinc
+ */
+public class GamepadXbox extends XboxController{
+
+    public GamepadXbox(int port) {
+        super(port);
+    }
+
+    // Defining Joystick Mappings:
+    public final int Button_X = 3;
+    public final int Button_Y = 4;
+    public final int Button_A = 1;
+    public final int Button_B = 2;
+    public final int Button_START = 8;
+    public final int Button_BACK = 7;
+    public final int Button_RIGHT_BUMPER = 6;
+    //public final int Button_RIGHT_TRIGGER = 8;
+    public final int Button_LEFT_BUMPER = 5;
+   // public final int Button_LEFT_TRIGGER = 7;
+    public final int Button_LEFT_STICK = 11;
+    public final int Button_RIGHT_STICK = 12;
+
+    // Joystick axis(s)
+    public final int Stick_LEFT_Y = 2;
+    public final int Stick_LEFT_X = 1;
+    public final int Stick_RIGHT_X = 4;
+    public final int Stick_RIGHT_Y = 5;
+    public final int Axis_TRIGGER = 3;
+    public final int Axis_DPAD = 6;
+
+
+    /**
+     * Returns the X position of the left stick.
+     */
+    public double getLeftX() {
+        return getRawAxis(Stick_LEFT_X);
+    }
+
+    /**
+     * Returns the X position of the right stick.
+     */
+    public double getRightX() {
+        return getRawAxis(Stick_RIGHT_X);
+    }
+
+    /**
+     * Returns the Y position of the left stick.
+     */
+    public double getLeftY() {
+        return getRawAxis(Stick_LEFT_Y);
+    }
+
+    /**
+     * Returns the Y position of the right stick.
+     */
+    public double getRightY() {
+        return getRawAxis(Stick_RIGHT_Y);
+    }
+
+    /**
+     * Checks whether Button A is being pressed and returns true if it is.
+     */
+    public boolean getButtonStateA() {
+        return getRawButton(Button_A);
+    }
+
+    /**
+     * Checks whether Button B is being pressed and returns true if it is.
+     */
+    public boolean getButtonStateB() {
+        return getRawButton(Button_B);
+    }
+
+    /**
+     * Checks whether Button X is being pressed and returns true if it is.
+     */
+    public boolean getButtonStateX() {
+        return getRawButton(Button_X);
+    }
+
+    /**
+     * Checks whether Button Y is being pressed and returns true if it is.
+     */
+    public boolean getButtonStateY() {
+        return getRawButton(Button_Y);
+    }
+
+    public boolean getButtonStateLeftBumper() {
+        return getRawButton(Button_LEFT_BUMPER);
+    }
+
+    public boolean getButtonStateRightBumper() {
+        return getRawButton(Button_RIGHT_BUMPER);
+    }
+
+
+
+    /**
+     * Return the DPad axis positions.
+     */
+    public double getDPadX() {
+        return getRawAxis(Axis_DPAD);
+    }
+
+
+    //Stuff from old logitech class
+
+
+    /**
+     * DPad Left and Right only WPILIB cannot access the vertical axis of the
+     * Logitech Game Controller Dpad
+     */
+  //  public boolean getDPadLeft() {
+   //     double x = getDPadX();
+   //     return (x < -0.5);
+   // }
+
+    //public boolean getDPadRight() {
+   //     double x = getDPadX();
+   //     return (x > 0.5);
+  //  }
+
+
+}

src/com/frc2879/bender/Robot.java

@@ -6,10 +6,11 @@
 /*----------------------------------------------------------------------------*/
 package com.frc2879.bender;
 
-import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotDrive;
 import edu.wpi.first.wpilibj.SimpleRobot;
 import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.camera.AxisCamera;
+import edu.wpi.first.wpilibj.camera.AxisCameraException;
 
 /**
  *
@@ -25,10 +26,11 @@
 public class Robot extends SimpleRobot {
 
     RobotDrive drivetrain = new RobotDrive(1, 2);
-    Gamepad gp = new Gamepad(1);
+    //Gamepad gp = new Gamepad(1);
+    GamepadXbox gp = new GamepadXbox(1);
 
     public final String name = "Bender Bot";
-    public final String version = "v1.06";
+    public final String version = "v1.08";
     public final String fullname = name + " " + version;
 
     // CONFIG VALUES
@@ -37,11 +39,16 @@ public class Robot extends SimpleRobot {
     boolean SquaredInputs = true;
 
     DSOutput dsout;
+
+    AxisCamera acam;
 
     //Called exactly 1 time when the competition starts.
     protected void robotInit() {
         dsout = new DSOutput();
         System.out.println("Loading " + fullname);
+        dsout.say(1, "Loading...");
+        Timer.delay(0.5);
+        acam = AxisCamera.getInstance("10.28.79.11");
         dsout.say(1, "Welcome to");
         dsout.say(2, fullname);
 
@@ -82,7 +89,21 @@ public void saysquaredinputs() {
      * This function is called once each time the robot enters autonomous mode.
      */
     public void autonomous() {
-
+        if (isAutonomous()) {
+            dsout.clearOutput();
+            dsout.say(1, fullname);
+            dsout.say(2, "Autonomous Mode");
+            Timer time = new Timer();
+            time.start();
+            while ( time.get() < 1 && isEnabled() && isAutonomous()) {
+                drivetrain.drive(-0.3, 0); //Negative goes forward for some reason
+                dsout.say(3, "Time: " + time.get());
+                Timer.delay(0.01);
+            }
+            time.stop();
+            dsout.say(3, "Time: " + time.get() + " DONE");
+            time.reset();
+        }
     }
 
     /**
@@ -147,9 +168,19 @@ public void operatorControl() {
             // Drive da robot:
             drivetrain.arcadeDrive(moveL, spinL, SquaredInputs);
 
-            Timer.delay(0.01);
+            Timer.delay(0.005);
+        }
+
+    }
+
+    protected void disabled(){
+        if(isDisabled()){
+            dsout.clearOutput();
+            dsout.say(1, fullname);
+            dsout.say(2, "Robot Disabled");
         }
     }
+
 
     /**
      * This function is called once each time the robot enters test mode.