Added documentation. :)

src/org/usfirst/frc/team2854/PID/DummyPIDOutput.java

@@ -2,19 +2,31 @@
 
 import edu.wpi.first.wpilibj.PIDOutput;
 
+/**
+ * @author Kevin Palani
+ * Class that represents a Dummy PID Output
+ */
 public class DummyPIDOutput implements PIDOutput {
 
-  private double output;
+	private double output;
+
+	/**
+	 * Default constructor
+	 */
+	public DummyPIDOutput() {
+		output = 0;
+	}
+
+	/** 
+	 * Sets PID output value to output.
+	 */
+	@Override
+	public void pidWrite(double output) {
+		//System.out.println("PId writing");
+		this.output = output;
+	}
 
-  public DummyPIDOutput() {
-    output = 0;
-  }
 
-  @Override
-  public void pidWrite(double output) {
-    // System.out.println("PId writing");
-    this.output = output;
-  }
 
   public double getOutput() {
     return output;

src/org/usfirst/frc/team2854/robot/Robot.java

@@ -18,20 +18,20 @@
 import org.usfirst.frc.team2854.robot.subsystems.Restartabale;
 
 /**
- * The VM is configured to automatically run this class, and to call the functions corresponding to
- * each mode, as described in the IterativeRobot documentation. If you change the name of this class
- * or the package after creating this project, you must also update the manifest file in the
- * resource directory.
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
  */
 public class Robot extends IterativeRobot {
 
 	public static OI oi;
 	Command autonomousCommand;
 	SendableChooser<Command> chooser = new SendableChooser<>();
-	private static HashMap<SubsystemNames, Subsystem> subsystems;	
+	private static HashMap<SubsystemNames, Subsystem> subsystems;
 	private static SensorBoard sensors;
 
-
 	/**
 	 * This function is run when the robot is first started up and should be used
 	 * for any initialization code.
@@ -43,30 +43,32 @@ public void robotInit() {
 		subsystems.put(SubsystemNames.DRIVE_TRAIN, new DriveTrain());
 
 		sensors = new SensorBoard();
-		
-		for(Subsystem s : subsystems.values()) {
-			if(s instanceof Restartabale) {
+
+		for (Subsystem s : subsystems.values()) {
+			if (s instanceof Restartabale) {
 				((Restartabale) s).enable();
 			}
+
 		}
-		
-//		double fieldWidth = 5;
-//		double fieldHeight = 5;
-//		FieldMap map = new FieldMap(fieldWidth, fieldHeight);
-//		MapInput input = new EncoderBased();
-//		FieldMapDriver mapDrive = new FieldMapDriver(map, 720, 720, input);
-//		
+
+		// double fieldWidth = 5;
+		// double fieldHeight = 5;
+		// FieldMap map = new FieldMap(fieldWidth, fieldHeight);
+		// MapInput input = new EncoderBased();
+		// FieldMapDriver mapDrive = new FieldMapDriver(map, 720, 720, input);
+		//
 
 	}
+
 	/**
 	 * This function is called once each time the robot enters Disabled mode. You
 	 * can use it to reset any subsystem information you want to clear when the
 	 * robot is disabled.
 	 */
 	@Override
 	public void disabledInit() {
-		for(Subsystem s : subsystems.values()) {
-			if(s instanceof Restartabale) {
+		for (Subsystem s : subsystems.values()) {
+			if (s instanceof Restartabale) {
 				((Restartabale) s).disable();
 			}
 		}
@@ -91,12 +93,12 @@ public void disabledPeriodic() {
 	 */
 	@Override
 	public void autonomousInit() {
-		for(Subsystem s : subsystems.values()) {
-			if(s instanceof Restartabale) {
+		for (Subsystem s : subsystems.values()) {
+			if (s instanceof Restartabale) {
 				((Restartabale) s).enable();
 			}
 		}
-		
+
 	}
 
 	/**
@@ -109,13 +111,13 @@ public void autonomousPeriodic() {
 
 	@Override
 	public void teleopInit() {
-		for(Subsystem s : subsystems.values()) {
-			if(s instanceof Restartabale) {
+		for (Subsystem s : subsystems.values()) {
+			if (s instanceof Restartabale) {
 				((Restartabale) s).enable();
 			}
 		}
-		
-		//OI.buttonA.whenPressed(new DriveMotionMagik());
+
+		// OI.buttonA.whenPressed(new DriveMotionMagik());
 
 	}
 
@@ -127,15 +129,14 @@ public void teleopPeriodic() {
 		SmartDashboard.putBoolean("NavX is Connected", sensors.getNavX().isConnected());
 		SmartDashboard.putBoolean("NavX is Calibrating", sensors.getNavX().isCalibrating());
 
-		((DriveTrain)getSubsystem(SubsystemNames.DRIVE_TRAIN)).writeToDashBoard();
-//		double angle = sensors.getNavX().getAngle();
-//		while(angle < 0) {
-//			angle += 360;
-//		}
-//		SmartDashboard.putNumber("Gyro", angle % 360);
+		((DriveTrain) getSubsystem(SubsystemNames.DRIVE_TRAIN)).writeToDashBoard();
+		// double angle = sensors.getNavX().getAngle();
+		// while(angle < 0) {
+		// angle += 360;
+		// }
+		// SmartDashboard.putNumber("Gyro", angle % 360);
 
-
-		Scheduler.getInstance().run();		
+		Scheduler.getInstance().run();
 	}
 
 	/**
@@ -149,10 +150,9 @@ public void testPeriodic() {
 	public static Subsystem getSubsystem(SubsystemNames name) {
 		return subsystems.get(name);
 	}
+
 	public static SensorBoard getSensors() {
 		return sensors;
 	}
 
-
-
 }

src/org/usfirst/frc/team2854/robot/SensorBoard.java

@@ -18,9 +18,16 @@ public class SensorBoard {
 	private AHRS navX;
 	private ADXRS450_Gyro spiGyro;
 	private BuiltInAccelerometer builtInacc;
+
 	private DriveTrain drive;
 
-	public SensorBoard() {
+
+	/**
+	 * Default constructor.
+	 */
+
+
+public SensorBoard() {
 
 		// navX = new AHRS(I2C.Port.kMXP);
 		String type = null;
@@ -73,37 +80,61 @@ public SensorBoard() {
 		// forwardAccel = new DualSensor("Forward Acceleration");
 		drive = (DriveTrain) Robot.getSubsystem(SubsystemNames.DRIVE_TRAIN);
 	}
+
+	/**
+	 * Calibrates gyro and forward accelerometer.
+	 */
+//	public void calibrate(long time) {
+//		long startTime = System.nanoTime();
+//		while(System.nanoTime() - startTime < time) {
+//			gyro.addValue(spiGyro.getRate(), navX.getRate());
+//			forwardAccel.addValue(builtInacc.getX(), navX.getRawAccelY());
+//		}
+//		gyro.calibrate();
+//		forwardAccel.calibrate();
+//	}
+	/**
+	 * Gets the value of the gyro.
+	 * @return - value of the gyro
+	 */
+//	public double getGyroValue() {
+//		return gyro.calculateValue(spiGyro.getRate(), navX.getRate());
+//	}
+	/**
+	 * Gets the value of the forward acceleration.
+	 * @return - value of the forward acceleration
+	 */
+//	public double getForwardAccelValue() {
+//		return forwardAccel.calculateValue(builtInacc.getX(), navX.getRawAccelY());
+//	}
+	/**
+	 * Gets gyro.
+	 * @return - gyro
+	 */
+//	public DualSensor getGyro() {
+//		return gyro;
+//	}
+	/**
+	 * Gets the forward acceleration.
+	 * @return - forward acceleration.
+	 */
+//	public DualSensor getForwardAccel() {
+//		return forwardAccel;
+//	}
 
-	// public void calibrate(long time) {
-	// long startTime = System.nanoTime();
-	// while(System.nanoTime() - startTime < time) {
-	// gyro.addValue(spiGyro.getRate(), navX.getRate());
-	// forwardAccel.addValue(builtInacc.getX(), navX.getRawAccelY());
-	// }
-	// gyro.calibrate();
-	// forwardAccel.calibrate();
-	// }
-
-	// public double getGyroValue() {
-	// return gyro.calculateValue(spiGyro.getRate(), navX.getRate());
-	// }
-	//
-	// public double getForwardAccelValue() {
-	// return forwardAccel.calculateValue(builtInacc.getX(), navX.getRawAccelY());
-	// }
-	//
-	// public DualSensor getGyro() {
-	// return gyro;
-	// }
-	//
-	// public DualSensor getForwardAccel() {
-	// return forwardAccel;
-	// }
 
+	/**
+	 * Getter method for the Accelerometer.
+	 * @return - built in accelerometer.
+	 */
 	public BuiltInAccelerometer getAccelerometer() {
 		return builtInacc;
 	}
 
+	/**
+	 * Getter method for NavX object.
+	 * @return - NavX object
+	 */
 	public AHRS getNavX() {
 		return navX;
 	}

src/org/usfirst/frc/team2854/robot/SubsystemNames.java

@@ -1,5 +1,9 @@
 package org.usfirst.frc.team2854.robot;
 
+/**
+ * @author Kevin Palani
+ * SubsystemNames
+ */
 public enum SubsystemNames {
   DRIVE_TRAIN,
   SHIFTER;

src/org/usfirst/frc/team2854/robot/commands/DriveMotionMagik.java

@@ -9,6 +9,12 @@
 import org.usfirst.frc.team2854.robot.SubsystemNames;
 import org.usfirst.frc.team2854.robot.subsystems.DriveTrain;
 
+import com.ctre.phoenix.motion.MotionProfileStatus;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+
 /** */
 public class DriveMotionMagik extends Command {
 

src/org/usfirst/frc/team2854/robot/commands/DriveThottle.java

@@ -9,40 +9,40 @@
 /** */
 public class DriveThottle extends Command {
 
-  private double percent;
-  private DriveTrain drive;
-
-  public DriveThottle(double percent) {
-    requires(Robot.getSubsystem(SubsystemNames.DRIVE_TRAIN));
-    this.percent = percent;
-  }
-
-  // Called just before this Command runs the first time
-  protected void initialize() {
-    drive = ((DriveTrain) Robot.getSubsystem(SubsystemNames.DRIVE_TRAIN));
-  }
-
-  // Called repeatedly when this Command is scheduled to run
-  protected void execute() {
-    System.out.println("Driving");
-    drive.drive(percent, percent, ControlMode.Velocity);
-  }
-
-  // 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() {
-    System.out.println("Stopping");
-    drive.stop();
-  }
-
-  // Called when another command which requires one or more of the same
-  // subsystems is scheduled to run
-  protected void interrupted() {
-    System.out.println("Interupted");
-    drive.stop();
-  }
+	private double percent;
+	private DriveTrain drive;
+
+	public DriveThottle(double percent) {
+		requires(Robot.getSubsystem(SubsystemNames.DRIVE_TRAIN));
+		this.percent = percent;
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+		drive = ((DriveTrain) Robot.getSubsystem(SubsystemNames.DRIVE_TRAIN));
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		System.out.println("Driving");
+		drive.drive(percent, percent, ControlMode.Velocity);
+	}
+
+	// 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() {
+		System.out.println("Stopping");
+		drive.stop();
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	protected void interrupted() {
+		System.out.println("Interupted");
+		drive.stop();
+	}
 }