Merged dev1 into master at v1.11, confirmed working

src/com/frc2879/bender/ButtonState.java

@@ -0,0 +1,26 @@
+package com.frc2879.bender;
+
+/**
+ *
+ * @author floogulinc
+ */
+public class ButtonState{
+
+    public boolean State;
+
+    public ButtonState(boolean state) {
+        State = state;
+    }
+
+    public boolean getstate(){
+        return State;
+    }
+
+    public void setstate(boolean state){
+        State = state;
+    }
+
+
+
+
+}

src/com/frc2879/bender/DSOutput.java

@@ -1,8 +1,3 @@
-/*
- * 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;
 
 import edu.wpi.first.wpilibj.DriverStationLCD;

src/com/frc2879/bender/Gamepad.java

@@ -1,8 +1,3 @@
-/*
- * 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;
 
 import edu.wpi.first.wpilibj.Joystick;

src/com/frc2879/bender/GamepadXbox.java

@@ -1,9 +1,3 @@
-/*
- * 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;
 
 /**
@@ -94,6 +88,14 @@ public boolean getButtonStateX() {
     public boolean getButtonStateY() {
         return getRawButton(Button_Y);
     }
+
+
+    public boolean getButtonStateSTART() {
+        return getRawButton(Button_START);
+    }
+    public boolean getButtonStateBACK() {
+        return getRawButton(Button_BACK);
+    }
 
     public boolean getButtonStateLeftBumper() {
         return getRawButton(Button_LEFT_BUMPER);

src/com/frc2879/bender/Robot.java

@@ -10,11 +10,13 @@
 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;
 
 /**
- *
+ * 
  * @author floogulinc
+ * 
+ * Robot Code for FRC Team 2879 Orange Thunder
+ * TEST BOT - Bender
  */
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -29,60 +31,105 @@ public class Robot extends SimpleRobot {
     //Gamepad gp = new Gamepad(1);
     GamepadXbox gp = new GamepadXbox(1);
 
-    public final String name = "Bender Bot";
-    public final String version = "v1.08";
-    public final String fullname = name + " " + version;
+    public static final String name = "Bender Bot";
+    public static final String version = "v1.11";
+    public static final String fullname = name + " " + version;
 
     // CONFIG VALUES
     int DriveSensitivity = 100;
     int TurnSensitivity = 100;
     boolean SquaredInputs = true;
 
+    //boolean sawyerdrive = false;
+    int DriveMode = 0; // 0 is arcade, 1 is tank, 2 is sawyer
+
     DSOutput dsout;
-    
+
     AxisCamera acam;
 
     //Called exactly 1 time when the competition starts.
     protected void robotInit() {
         dsout = new DSOutput();
         System.out.println("Loading " + fullname);
+        dsout.clearOutput();
         dsout.say(1, "Loading...");
-        Timer.delay(0.5);
+        Timer.delay(1);
         acam = AxisCamera.getInstance("10.28.79.11");
         dsout.say(1, "Welcome to");
         dsout.say(2, fullname);
 
     }
 
-    boolean pbuttonRB = false;
-    boolean pbuttonLB = false;
-    boolean pbuttonY = false;
-    boolean pbuttonX = false;
-    boolean pbuttonDPADL = false;
-    boolean pbuttonDPADR = false;
+    ButtonState pbuttonRB = new ButtonState(false);
+    ButtonState pbuttonLB = new ButtonState(false);
+    ButtonState pbuttonY = new ButtonState(false);
+    ButtonState pbuttonX = new ButtonState(false);
+    ButtonState pbuttonDPADL = new ButtonState(false);
+    ButtonState pbuttonDPADR = new ButtonState(false);
+    ButtonState pbuttonBACK = new ButtonState(false);
 
     boolean bumpertoggle = false; //true is turn sensitivity, false for drive
 
-    public void saydrivesensitivity() {
+    public void saydrivesensitivity(int line) {
         if (bumpertoggle) {
-            dsout.say(2, "DSensitivity: " + Integer.toString(DriveSensitivity));
+            dsout.say(line, "DSensitivity: " + Integer.toString(DriveSensitivity));
         } else {
-            dsout.say(2, "*DSensitivity: " + Integer.toString(DriveSensitivity));
+            dsout.say(line, "*DSensitivity: " + Integer.toString(DriveSensitivity));
         }
 
     }
 
-    public void sayturnsensitivity() {
+    public void sayturnsensitivity(int line) {
         if (bumpertoggle) {
-            dsout.say(3, "*TSensitivity: " + Integer.toString(TurnSensitivity));
+            dsout.say(line, "*TSensitivity: " + Integer.toString(TurnSensitivity));
         } else {
-            dsout.say(3, "TSensitivity: " + Integer.toString(TurnSensitivity));
+            dsout.say(line, "TSensitivity: " + Integer.toString(TurnSensitivity));
         }
 
     }
 
-    public void saysquaredinputs() {
-        dsout.say(4, "Squared Inputs: " + SquaredInputs);
+    public void saysquaredinputs(int line) {
+        dsout.say(line, "Squared Inputs: " + SquaredInputs);
+    }
+
+    String[] drivemodename = {
+        "Arcade",
+        "Tank",
+        "Sawyer"};
+
+    public void saydrivemode(int line) {
+        dsout.say(line, "Mode: " + drivemodename[DriveMode]);
+    }
+
+    public void sayscreentele() {
+
+        dsout.say(1, fullname);
+        saydrivemode(2);
+        saysquaredinputs(3);
+        if (DriveMode == 1) {
+            dsout.clearLine(4);
+            dsout.clearLine(5);
+        } else {
+            saydrivesensitivity(4);
+            sayturnsensitivity(5);
+        }
+    }
+
+    public void switchdrivemode() {
+        switch (DriveMode) {
+            case 0:
+                DriveMode = 1;
+                break;
+            case 1:
+                DriveMode = 2;
+                break;
+            case 2:
+                DriveMode = 0;
+                break;
+            default:
+                DriveMode = 0;
+                break;
+        }
     }
 
     /**
@@ -95,7 +142,7 @@ public void autonomous() {
             dsout.say(2, "Autonomous Mode");
             Timer time = new Timer();
             time.start();
-            while ( time.get() < 1 && isEnabled() && isAutonomous()) {
+            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);
@@ -106,81 +153,102 @@ public void autonomous() {
         }
     }
 
+    public boolean buttoncheck(boolean button, ButtonState pbutton) {
+        if (button) {
+            pbutton.setstate(true);
+            return false;
+        } else if (pbutton.getstate() && !button) {
+            pbutton.setstate(false);
+            return true;
+        } else {
+            pbutton.setstate(false);
+            return false;
+        }
+    }
+
     /**
      * This function is called once each time the robot enters operator control.
      */
     public void operatorControl() {
         drivetrain.setSafetyEnabled(true);
         dsout.clearOutput();
-        dsout.say(1, fullname);
-        saydrivesensitivity();
-        sayturnsensitivity();
-        saysquaredinputs();
+        sayscreentele();
         while (isOperatorControl() && isEnabled()) {
 
             // Update joystick values:
-            double moveL = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
-            double spinL = (gp.getLeftX() * ((double) (TurnSensitivity) / 100));
-
-            if (gp.getButtonStateRightBumper()) {
-                pbuttonRB = true;
-            } else if (pbuttonRB && !gp.getButtonStateRightBumper()) {
-                if (bumpertoggle) {
-                    TurnSensitivity = (TurnSensitivity) + (10);
-                    sayturnsensitivity();
-                } else {
-                    DriveSensitivity = (DriveSensitivity) + (10);
-                    saydrivesensitivity();
-                }
-                pbuttonRB = false;
+            double move = 0;
+            double spin = 0;
+
+            double tankleft = 0;
+            double tankright = 0;
+
+            if (DriveMode == 0) {
+                move = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
+                spin = (gp.getLeftX() * ((double) (TurnSensitivity) / 100));
+            } else if (DriveMode == 2) {
+                move = (gp.getLeftY() * ((double) (DriveSensitivity) / 100));
+                spin = (gp.getRightX() * ((double) (TurnSensitivity) / 100));
+            } else if (DriveMode == 1) {
+                tankleft = gp.getLeftY();
+                tankright = gp.getRightY();
             }
 
-            if (gp.getButtonStateLeftBumper()) {
-                pbuttonLB = true;
-            } else if (pbuttonLB && !gp.getButtonStateLeftBumper()) {
-                if (bumpertoggle) {
-                    TurnSensitivity = (TurnSensitivity) - (10);
-                    sayturnsensitivity();
-                } else {
-                    DriveSensitivity = (DriveSensitivity) - (10);
-                    saydrivesensitivity();
+            if (DriveMode != 1) {
+                if (buttoncheck(gp.getButtonStateRightBumper(), pbuttonRB)) {
+                    if (bumpertoggle) {
+                        TurnSensitivity = (TurnSensitivity) + (10);
+                        sayscreentele();
+                    } else {
+                        DriveSensitivity = (DriveSensitivity) + (10);
+                        sayscreentele();
+                    }
                 }
-                pbuttonLB = false;
-            }
 
-            if (gp.getButtonStateY()) {
-                pbuttonY = true;
-            } else if (pbuttonY && !gp.getButtonStateY()) {
-                bumpertoggle = !bumpertoggle;
-                saydrivesensitivity();
-                sayturnsensitivity();
-                pbuttonY = false;
+                if (buttoncheck(gp.getButtonStateLeftBumper(), pbuttonLB)) {
+                    if (bumpertoggle) {
+                        TurnSensitivity = (TurnSensitivity) - (10);
+                        sayscreentele();
+                    } else {
+                        DriveSensitivity = (DriveSensitivity) - (10);
+                        sayscreentele();
+                    }
+                }
+
+                if (buttoncheck(gp.getButtonStateY(), pbuttonY)) {
+                    bumpertoggle = !bumpertoggle;
+                    sayscreentele();
+                }
             }
 
-            if (gp.getButtonStateX()) {
-                pbuttonX = true;
-            } else if (pbuttonX && !gp.getButtonStateX()) {
+            if (buttoncheck(gp.getButtonStateX(), pbuttonX)) {
                 SquaredInputs = !SquaredInputs;
-                saysquaredinputs();
-                pbuttonX = false;
+                sayscreentele();
+            }
+
+            if (buttoncheck(gp.getButtonStateBACK(), pbuttonBACK)) {
+                switchdrivemode();
+                sayscreentele();
             }
 
             // Drive da robot:
-            drivetrain.arcadeDrive(moveL, spinL, SquaredInputs);
+            if (DriveMode == 1) {
+                drivetrain.tankDrive(tankleft, tankright, SquaredInputs);
+            } else {
+                drivetrain.arcadeDrive(move, spin, SquaredInputs);
+            }
 
             Timer.delay(0.005);
         }
-
+        dsout.clearOutput();
     }
-    
-    protected void disabled(){
-        if(isDisabled()){
+
+    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.

src/com/frc2879/bender/XboxController.java

@@ -1,7 +1,3 @@
-/*
- * To change this template, choose Tools | Templates
- * and open the template in the editor.
- */
 package com.frc2879.bender;
 
 import edu.wpi.first.wpilibj.DriverStation;