Implemented lift functionalities onto right joystick

The command is mapped via button 10 and 11 on right joystick, the
command is executed with a whileHeld()

Author: nelly-yy

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

@@ -9,6 +9,7 @@
 
 import org.usfirst.frc.team199.Robot2018.commands.PIDMove;
 import org.usfirst.frc.team199.Robot2018.commands.PIDTurn;
+import org.usfirst.frc.team199.Robot2018.commands.RunLift;
 import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
 import org.usfirst.frc.team199.Robot2018.commands.ShiftDriveType;
 import org.usfirst.frc.team199.Robot2018.commands.ShiftHighGear;
@@ -31,6 +32,8 @@ public class OI {
 	private JoystickButton shiftDriveTypeButton;
 	private JoystickButton PIDMoveButton;
 	private JoystickButton PIDTurnButton;
+	private JoystickButton MoveLiftUpButton;
+	private JoystickButton MoveLiftDownButton;
 	public Joystick rightJoy;
 	private JoystickButton updatePIDConstantsButton;
 	private JoystickButton updateEncoderDPPButton;
@@ -55,6 +58,11 @@ public OI() {
 		PIDMoveButton.whenPressed(new PIDMove(40, Robot.dt, RobotMap.distEncAvg));
 		PIDTurnButton = new JoystickButton(leftJoy, getButton("PID Turn", 8));
 		PIDTurnButton.whenPressed(new PIDTurn(30, Robot.dt, RobotMap.fancyGyro));
+		
+		MoveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up",10));
+		MoveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down",11));
+		MoveLiftUpButton.whileHeld(new RunLift(Robot.lift,true));
+		MoveLiftDownButton.whileHeld(new RunLift(Robot.lift,false));
 
 		rightJoy = new Joystick(1);
 		updatePIDConstantsButton = new JoystickButton(rightJoy, getButton("Get PID Constants", 8));

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

@@ -0,0 +1,50 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class RunLift extends Command {
+
+	private LiftInterface lift;
+	private final double SPEED = 0.05;
+	private int dir;
+	
+    public RunLift(LiftInterface lift, boolean up) {
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+    	this.lift = lift;
+    	if(up)
+    		dir = 1;
+    	else
+    		dir = -1;
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	lift.runMotor(SPEED * dir);
+    }
+
+    // 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() {
+    	lift.stopLift();
+    }
+
+    // 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/Lift.java

@@ -56,7 +56,13 @@ public double getLiftSpeed() {
 	public void goToPosition(Position position, double offset) {
 
 	}
-	
+	/**
+	 * Runs lift motor at specified speed
+	 * @param speed - desired speed to run at
+	 */
+	public void runMotor(double output) {
+		liftMotor.set(output);
+	}
 
 }
 

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

@@ -36,6 +36,10 @@ public enum Position {
 	 * @param offset - distance up or down from position
 	 */
 	public void goToPosition(Position position, double offset);
-	
+	/**
+	 * Runs lift motor at specified speed
+	 * @param speed - desired speed to run at
+	 */
+	public void runMotor(double speed);
 
 }