codesagr.txt

package org.usfirst.frc.team6459.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.Talon;

public class Robot extends IterativeRobot {

	RobotDrive myRobot;
	Joystick mXboxController = new Joystick(1); // Where "1" is the index of the joystick (you can set this in the Driver Station software).
	Compressor c = new Compressor(0);
	int autoLoopCounter = 0;
	Talon ust = new Talon(4);
	Talon alt = new Talon(5);
	Talon cmotor = new Talon(6);
	
	/**
     * This f
     * unction is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	myRobot = new RobotDrive(0,1,2,3);
    	mXboxController = new Joystick(0);
    	 alt.stopMotor();
         ust.stopMotor();
         cmotor.stopMotor();
         
    }
    
    /**
     * This function is run once each time the robot enters autonomous mode
     */
    public void autonomousInit() {
    	autoLoopCounter = 0;
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
    	if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
		{
			myRobot.drive(-0.5, 0.0); 	// drive forwards half speed
			autoLoopCounter++;
			} else {
			myRobot.drive(0.0, 0.0); 	// stop robot
		}
    }
    
    /**
     * This function is called once each time the robot enters tele-operated mode
     */
    public void teleopInit(){
    }

    /**
     * This function is called periodically during operator control
     */
    
    public void teleopPeriodic() {
myRobot.setSafetyEnabled(true);
    	double axisValue = mXboxController.getRawAxis(2); // Where "2" is the index of the Y axis on the left stick (see above)
    	boolean buttonPressed = mXboxController.getRawButton(1); // Where "1" is the index of the button reported by the Windows Control Panel "Game Controllers" display
 if (mXboxController.getRawButton(1))
 {
 c.setClosedLoopControl(true);
 }
 else if (mXboxController.getRawButton(2))
 {
	c.setClosedLoopControl(false);
	
   }
    if (mXboxController.getRawButton(3)){
         ust.set(0.7);
     }
    if(mXboxController.getRawButton(1)){
    	alt.set(0.7);
    }
    if(mXboxController.getRawButton(4)){
    	cmotor.set(0.3);
    }
    if (mXboxController.getRawButton(5))
    {
    myRobot.setMaxOutput(0.5);	
    }
 }
        /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
    	LiveWindow.run();
    }
    
    }