Sample Robot Code

/*----------------------------------------------------------------------------*

* * Basic Robot Code Compiled By Blake from Team 2648 *

* Questions? blake (at) team2648 [dot] com *

/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj;

/* Imports are not needed when the package is edu.wpi.first.wpilibj; contrary to that of the basic netbeans frc project import edu.wpi.first.wpilibj.RobotDrive;*/

public class LunacyBot extends SimpleRobot 
{
     private RobotDrive drivetrain;
     private Joystick leftStick; //One Joystick controls the robot
     private DigitalInput index; //This is a digital input from our limit switch, allows for the indexing of the lift
     private Jaguar horn; // Oh Yes we have a horn!
     private Victor lift; // The actual lift, to raise the balls to the kicker
     private Victor roller; // Brings the Orbit balls into the front of the base of the lift
     private Victor kicker; // The "chainsaw" typeish kicker that throws the balls out of the top of our robot.
     private boolean debug = false;

     public LunacyBot ()
     {
          drivetrain = new RobotDrive(1, 2); // create RobotDrive
          leftStick = new Joystick(1); // and joysticks
          index = new DigitalInput(1); // and the Digital IO
          horn = new Jaguar(4); // and the Horn
          lift = new Victor(3); // and the lift, its only a victor because we burnt out like 3 Jaguars
          roller = new Victor(5); // and the rollers,
          kicker = new Victor(6); // and our chainsaw
     }

     public void autonomous() 
     {
          stop();
          for(int i = 0; i < 4; i++) { d("FWD");
          {
               drivetrain.setLeftRightMotorSpeeds(1.0, 1.0);
               Timer.delay(1);
          }
          for(int i = 0; i < 11; i++)      
          { 
               d("Spinning");
               drivetrain.setLeftRightMotorSpeeds(-1.0, 1.0);
               Timer.delay(1);
          }
          d("done");
          stop();
     }

     public void operatorControl() 
     {
          getWatchdog().setEnabled(false); // Stupid WATCHDOG
          while (isOperatorControl()) //Lets loop while in operator control
          {
               roller.set(1); //run front rolers
               //kicker.set(1); prevent jerking
               //set kicker direction(button to change direction [hold or toggle])
               if (leftStick.getTrigger())
                    lift.set(1);
               else if (index.get())
                    lift.set(1);
               else
                    lift.set(0); //Kicker code

               if(leftStick.getRawButton(7))
                    kicker.set(1);
               else
                    kicker.set(-1);

               //Horn code 
               if (leftStick.getRawButton(3))
                    horn.set((leftStick.getThrottle())*(0.5) + (0.5));// math issue
               else
                    horn.set(0);

               //make mr robo drive
               drivetrain.drive(leftStick.getY(), leftStick.getX());// drive w/joysticks 
               //slow dwn he iterations, seems to work smoohely
               Timer.delay(0.005);

          }
          d("END OC");
          stop();
     }

     /** Stops all motors **/ 
     public void stop() 
     {
          drivetrain.drive(0.0, 0.0);
          lift.set(0);
          roller.set(0);
          kicker.set(0);
          horn.set(0); 
     }

     /** Only System.out.println when debug = true. */
     public void d(String str) 
     {
          if(debug) System.out.println(str);

     }

}