Begin writing AutoMoveTo

Author: MysteryPig

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/AutoUtils.java

@@ -5,7 +5,9 @@
 import java.util.Map;
 
 public class AutoUtils {
-	
+	private static double currX;
+	private static double currY;
+	private static double currRotation;
 	/**
 	 * Parses the inputted script file into a map of scripts
 	 * 
@@ -74,6 +76,36 @@ public static Map<String, ArrayList<String[]>> parseScriptFile(String scriptFile
 		return autoScripts;
 	}
 
+	/*
+	 * All of these are getters and setters for the robot's position and orientation
+	 */
+	public static double getX() {
+		return currX;
+	}
+	public static double getY() {
+		return currY;
+	}
+	public static double getRot() {
+		return currRotation;
+	}
+	public static void setX(double x) {
+		currX = x;
+	}
+	public static void setY(double y) {
+		currY = y;
+	}
+	public static void setRot(double rot) {
+		currRotation = rot;
+	}
+	public static void changeX(double x) {
+		currX += x;
+	}
+	public static void changeY(double y) {
+		currY += y;
+	}
+	public static void changeRot(double rot) {
+		currRotation += rot;
+	}
 
 	/**
 	 * Validates the command inputted to see if it's AAA compliant
@@ -210,7 +242,7 @@ private static boolean isPoint (String s) {
 	 * @param s the argument
 	 * @return if the argument is a double
 	 */
-	private static boolean isDouble (String s) {
+	public static boolean isDouble (String s) {
 		try {
 			Double.parseDouble(s);
 		} catch (Exception e) {

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

@@ -1,36 +1,43 @@
 package org.usfirst.frc.team199.Robot2018.commands;
 
-import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team199.Robot2018.autonomous.AutoUtils;
+
+//import org.usfirst.frc.team199.Robot2018.subsystems.Drivetrain;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
 
 /**
  *
  */
-public class AutoMoveTo extends Command {
-
-    public AutoMoveTo(String[] points) {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
-    }
-
-    // Called just before this Command runs the first time
-    protected void initialize() {
-    }
-
-    // Called repeatedly when this Command is scheduled to run
-    protected void execute() {
-    }
-
-    // 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() {
-    }
-
-    // Called when another command which requires one or more of the same
-    // subsystems is scheduled to run
-    protected void interrupted() {
+public class AutoMoveTo extends CommandGroup {
+	
+    public AutoMoveTo(String[] args) {
+        //requires(Drivetrain);
+    	double rotation;
+    	double[] point;
+    	for (String arg : args) {
+    		if (AutoUtils.isDouble(arg)) {
+    			rotation = Double.valueOf(arg);
+    		}
+    	}
+    	
+    	
+    	
+    	// Add Commands here:
+        // e.g. addSequential(new Command1());
+        //      addSequential(new Command2());
+        // these will run in order.
+
+        // To run multiple commands at the same time,
+        // use addParallel()
+        // e.g. addParallel(new Command1());
+        //      addSequential(new Command2());
+        // Command1 and Command2 will run in parallel.
+
+        // A command group will require all of the subsystems that each member
+        // would require.
+        // e.g. if Command1 requires chassis, and Command2 requires arm,
+        // a CommandGroup containing them would require both the chassis and the
+        // arm.
     }
 }

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

@@ -231,4 +231,11 @@ public void shiftGears(boolean highGear) {
 	public void shiftGearSolenoidOff() {
 		dtGear.set(DoubleSolenoid.Value.kOff);
 	}
+	/**
+	 * Returns the gyroscope
+	 * @return the gyroscope
+	 */
+	public AHRS getGyro() {
+		return fancyGyro;
+	}
 }