added listener (hopefully)

Author: dfang314

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

@@ -0,0 +1,52 @@
+package org.usfirst.frc.team199.Robot2018;
+
+import org.usfirst.frc.team199.Robot2018.commands.SetDistancePerPulse;
+import org.usfirst.frc.team199.Robot2018.commands.UpdatePIDConstants;
+
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableValue;
+import edu.wpi.first.networktables.TableEntryListener;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+
+public class Listener implements TableEntryListener {
+
+	private void addCommand(Command com) {
+		Scheduler.getInstance().add(com);
+	}
+
+	@Override
+	public void valueChanged(NetworkTable arg0, String arg1, NetworkTableEntry arg2, NetworkTableValue arg3, int arg4) {
+		if(arg4 == EntryListenerFlags.kNew) return;
+		switch (arg1) {
+		case "Const/Distance Per Pulse Left":
+			addCommand(new SetDistancePerPulse());
+			break;
+		case "Const/Distance Per Pulse Right":
+			addCommand(new SetDistancePerPulse());
+			break;
+		case "Const/TurnkP":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/TurnkI":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/TurnkD":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekP":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekI":
+			addCommand(new UpdatePIDConstants());
+			break;
+		case "Const/MovekD":
+			addCommand(new UpdatePIDConstants());
+			break;
+
+		}
+	}
+
+}

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

@@ -28,6 +28,7 @@ public class Robot extends IterativeRobot {
 	public static final Lift lift = new Lift();
 	public static RobotMap rmap;
 	public static Drivetrain dt;
+	public static Listener listen;
 
 	public static OI oi;
 
@@ -57,6 +58,7 @@ public void robotInit() {
 		rmap = new RobotMap();
 		dt = new Drivetrain();
 		oi = new OI();
+		listen = new Listener();
 		// chooser.addObject("My Auto", new MyAutoCommand());
 		SmartDashboard.putData("Auto mode", chooser);
 	}