Code for Team 6141's 2018 Power Up Robot

Contains:

• Robot: Main Robot Class that is used connect others classes. Has mostly unused methods for auto/teleop/test init and periodic

• OI: All the joystick and xbox controls are contained in here. Maps buttons to commands and contains helper methods for commands

• Robot Const: Stores most of the constant values in a single class for easy access and updating

Contains:

• RobotControl: Master Subsystem that stores all others. Used to reduce code in Robot Class. Instantiates all contained subsystems and contains methods for sending smartdashboard updates to all substituaries. Important Methods:

  • Update: calls all subsidiary subsystems update methods

• DriveTrain: Controls the main robot drivetrain. Contains instantiated drivetrain motors (VictorSp) and methods to control them Important Methods:

  • setSpeed: sets drivetrain motor speeds. Requres: leftSpeed, rightSpeed doubles
  • setSpeedAndTurn: calculates leftSpeed and rightSpeed, then calls setSpeed() with values. Requires: speed, turn doubles
  • update: prints current motor speeds to SmartDashboard

• Intake: Controls the Claw Intake System. Contains instantiated claw motors (Spark) and methods to control them Important Methods:

  • setSpeed: sets claw motor speeds. Requres: leftSpeed, rightSpeed doubles
  • setSpeedAndTurn: calculates leftSpeed and rightSpeed, then calls setSpeed() with values. Requires: speed, turn doubles
  • stop: stops motors
  • update: prints current motor speeds to SmartDashboard

• Elevator: Controls the Up/Down Elevator that carries claw. Containts instantiated elevator motor (Spark) and methods to control it Important Methods:

  • setSpeed: sets elevator motor speed. Requires speed double
  • stop: stops motor
  • update: prints current motor speed to SmartDashboard