Merge branch 'master' of https://github.com/DriverStationComputer/RobotCode2018 into HEAD

Author: DriverStationComputer

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -130,12 +130,10 @@ public RobotMap() {
 
 		leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 9));
 		rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 8));
-		// leftIntakeHorizontalSolenoid = new
-		// DoubleSolenoid(getPort("IntakeLeftHorizontalSolenoidPort1", 2),
-		// getPort("IntakeLeftHorizontalSolenoidPort2", 3));
-		// rightIntakeHorizontalSolenoid = new
-		// DoubleSolenoid(getPort("IntakeRightHorizontalSolenoidPort1", 4),
-		// getPort("IntakeRightHorizontalSolenoidPort2", 5));
+		leftIntakeHorizontalSolenoid = new DoubleSolenoid(getPort("IntakeLeftHorizontalSolenoidPort1", 2),
+				getPort("IntakeLeftHorizontalSolenoidPort2", 3));
+		rightIntakeHorizontalSolenoid = new DoubleSolenoid(getPort("IntakeRightHorizontalSolenoidPort1", 4),
+				getPort("IntakeRightHorizontalSolenoidPort2", 5));
 		// leftIntakeVerticalSolenoid = new
 		// DoubleSolenoid(getPort("IntakeLeftVerticalSolenoidPort1", 6),
 		// getPort("IntakeLeftVerticalSolenoidPort2", 7));

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/DefaultIntake.java

@@ -0,0 +1,44 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class DefaultIntake extends Command {
+
+	public DefaultIntake() {
+		// Use requires() here to declare subsystem dependencies
+		// eg. requires(chassis);
+		requires(Robot.intakeEject);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		// 1 and 5 represent the axes' index in driver station
+		Robot.intakeEject.runLeftIntake(Robot.oi.manipulator.getRawAxis(1));
+		Robot.intakeEject.runRightIntake(Robot.oi.manipulator.getRawAxis(5));
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	protected void end() {
+		Robot.intakeEject.runIntake(0);
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+		end();
+	}
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/IntakeCube.java

@@ -20,7 +20,7 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.intakeEject.runIntake(1);
+		Robot.intakeEject.runIntake(-1);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/OutakeCube.java

@@ -20,24 +20,28 @@ public OutakeCube() {
 	// Called just before this Command runs the first time
 	protected void initialize() {
 		tim = new Timer();
+		tim.reset();
+		tim.start();
 	}
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.intakeEject.runIntake(-1);
+		Robot.intakeEject.runIntake(1);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()
 	protected boolean isFinished() {
-		return tim.get() > Robot.getConst("Outake Time", 1);
+		return tim.get() > Robot.getConst("Outake Time", 0.5);
 	}
 
 	// Called once after isFinished returns true
 	protected void end() {
+		Robot.intakeEject.runIntake(0);
 	}
 
 	// Called when another command which requires one or more of the same
 	// subsystems is scheduled to run
 	protected void interrupted() {
+		end();
 	}
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEject.java

@@ -2,6 +2,7 @@
 
 import org.usfirst.frc.team199.Robot2018.Robot;
 import org.usfirst.frc.team199.Robot2018.RobotMap;
+import org.usfirst.frc.team199.Robot2018.commands.DefaultIntake;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
@@ -24,6 +25,7 @@ public class IntakeEject extends Subsystem implements IntakeEjectInterface {
 	 * Set the default command for a subsystem here.
 	 */
 	public void initDefaultCommand() {
+		setDefaultCommand(new DefaultIntake());
 	}
 
 	/**
@@ -46,9 +48,9 @@ public double getRightIntakeSpeed() {
 	 * 
 	 */
 	public boolean hasCube() {
-		return pdp.getCurrent(Robot.rmap.getPort("PDP Intake Left Channel", 4)) > Robot.getConst("Max Current", 38)
-				&& pdp.getCurrent(Robot.rmap.getPort("PDP Intake Right Channel", 11)) > Robot.getConst("Max Current",
-						38);
+		return pdp.getCurrent(Robot.rmap.getPort("PDP Intake Left Channel", 4)) > Robot.getConst("Max Current", 39)
+				|| pdp.getCurrent(Robot.rmap.getPort("PDP Intake Right Channel", 11)) > Robot.getConst("Max Current",
+						39);
 	}
 
 	/**
@@ -60,16 +62,37 @@ public void stopIntake() {
 		rightIntakeMotor.stopMotor();
 	}
 
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runLeftIntake(double speed) {
+		double actualSpeed = speed * Robot.getConst("Intake Motor Left Speed Multiplier", 1);
+		leftIntakeMotor.set(actualSpeed);
+	}
+
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runRightIntake(double speed) {
+		double actualSpeed = speed * Robot.getConst("Intake Motor Right Speed Multiplier", 1);
+		rightIntakeMotor.set(actualSpeed);
+	}
+
 	/**
 	 * Spins the rollers
 	 * 
 	 * @param speed
 	 *            - positive -> rollers in, negative -> rollers out
 	 */
 	public void runIntake(double speed) {
-		double actualSpeed = speed * Robot.getConst("Intake Motor Speed Multiplier", 1);
-		leftIntakeMotor.set(actualSpeed);
-		rightIntakeMotor.set(actualSpeed);
+		runLeftIntake(speed);
+		runRightIntake(speed);
 	}
 
 	/**
@@ -101,9 +124,9 @@ public void lowerIntake() {
 	}
 
 	/**
-	 * Opens the intake
+	 * Closes the intake
 	 */
-	public void openIntake() {
+	public void closeIntake() {
 		DoubleSolenoid.Value leftSet = Robot.getBool("Intake Left Horizontal Solenoid Inverted", false)
 				? DoubleSolenoid.Value.kReverse
 				: DoubleSolenoid.Value.kForward;
@@ -115,9 +138,9 @@ public void openIntake() {
 	}
 
 	/**
-	 * Closes the intake
+	 * Opens the intake
 	 */
-	public void closeIntake() {
+	public void openIntake() {
 		DoubleSolenoid.Value leftSet = Robot.getBool("Intake Left Horizontal Solenoid Inverted", false)
 				? DoubleSolenoid.Value.kForward
 				: DoubleSolenoid.Value.kReverse;

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/IntakeEjectInterface.java

@@ -30,6 +30,22 @@ public interface IntakeEjectInterface {
 	 */
 	public void stopIntake();
 
+	/**
+	 * Sets the left roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the left motor should run at
+	 */
+	public void runLeftIntake(double speed);
+
+	/**
+	 * Sets the right roller to run at the specified speed
+	 * 
+	 * @param speed
+	 *            Speed the right motor should run at
+	 */
+	public void runRightIntake(double speed);
+
 	/**
 	 * Spins the rollers
 	 *