Fixed driving/input issues, improved intake control

src/org/usfirst/frc/team4737/lib/Gamepad.java

@@ -94,7 +94,7 @@ private double scale(double val, double valLow, double valHigh, double newLow, d
 
 	public class DPad {
 
-		private class DPadButton extends Button {
+		public class DPadButton extends Button {
 
 			private final DPad dpad;
 			private final int degree;
@@ -121,7 +121,7 @@ public String getNameID() {
 
 		}
 
-		private class DPadAxis extends Axis {
+		public class DPadAxis extends Axis {
 
 			private DPadButton[] negative;
 			private DPadButton[] positive;
@@ -195,6 +195,8 @@ public DPad(Gamepad gamepad, String name, int id) {
 					new DPadButton[] { RIGHT, DOWN_RIGHT, UP_RIGHT });
 			Y = new DPadAxis(gamepad, name + "_Y", new DPadButton[] { DOWN, DOWN_LEFT, DOWN_RIGHT },
 					new DPadButton[] { UP, UP_LEFT, UP_RIGHT });
+
+			gamepad.registerDPad(this, name);
 		}
 
 		/**
@@ -294,7 +296,7 @@ public String getName() {
 	 * @return Returns a button mapped with the given name
 	 */
 	public Button getButton(String name) {
-		return buttonMap.get(name);
+		return buttonMap.get(name.toLowerCase());
 	}
 
 	/**
@@ -306,7 +308,7 @@ public Button getButton(String name) {
 	 * @return Returns an axis mapped with the given name
 	 */
 	public Axis getAxis(String name) {
-		return axisMap.get(name);
+		return axisMap.get(name.toLowerCase());
 	}
 
 	/**
@@ -319,7 +321,7 @@ public Axis getAxis(String name) {
 	 * @return Returns a thumbstick mapped with the given name
 	 */
 	public Thumbstick getThumbstick(String name) {
-		return thumbstickMap.get(name);
+		return thumbstickMap.get(name.toLowerCase());
 	}
 
 	/**
@@ -331,7 +333,7 @@ public Thumbstick getThumbstick(String name) {
 	 * @return Returns a button mapped with the given name
 	 */
 	public DPad getDPad(String name) {
-		return dpadMap.get(name);
+		return dpadMap.get(name.toLowerCase());
 	}
 
 }

src/org/usfirst/frc/team4737/robot/OI.java

@@ -14,6 +14,7 @@
 import org.usfirst.frc.team4737.robot.commands.intake.ControlIntake;
 import org.usfirst.frc.team4737.robot.commands.intake.ReverseIntake;
 import org.usfirst.frc.team4737.robot.commands.intake.RunIntake;
+import org.usfirst.frc.team4737.robot.commands.intake.TwistIntake;
 
 import edu.wpi.first.wpilibj.buttons.Trigger;
 
@@ -61,7 +62,8 @@ public OI() {
 		new Trigger() {
 			@Override
 			public boolean get() {
-				return operator.getAxis("LT").get() != 0 || operator.getAxis("RT").get() != 0;
+				return operator.getAxis("LT").get() != 0 || operator.getAxis("RT").get() != 0
+						|| operator.getAxis("RS_X").get() != 0;
 			}
 		}.whileActive(new ControlIntake());
 
@@ -80,6 +82,9 @@ public boolean get() {
 				return operator.getAxis("LS_Y").get() != 0;
 			}
 		}.whileActive(new ControlElevator());
+
+		//		operator.getDPad("DPAD").LEFT.whileActive(new TwistIntake(1));
+		//		operator.getDPad("DPAD").RIGHT.whileActive(new TwistIntake(-1));
 
 	}
 

src/org/usfirst/frc/team4737/robot/Robot.java

@@ -28,11 +28,11 @@
  */
 public class Robot extends TimedRobot {
 
-	public static final OI OI = new OI();
 	public static final Drivetrain DRIVETRAIN = new Drivetrain();
 	public static final Elevator ELEVATOR = new Elevator();
 	public static final Intake INTAKE = new Intake();
 	public static final Climber CLIMBER = new Climber();
+	public static final OI OI = new OI();
 
 	Command m_autonomousCommand;
 	SendableChooser<Command> m_chooser = new SendableChooser<>();

src/org/usfirst/frc/team4737/robot/commands/drivetrain/TeleopTankDrive.java

@@ -22,8 +22,8 @@ protected void initialize() {
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
     	Robot.DRIVETRAIN.tankDrive(
-    			Robot.OI.driver.getThumbstick("LS").Y.get(),
-    			Robot.OI.driver.getThumbstick("RS").Y.get());
+    			-Robot.OI.driver.getThumbstick("LS").Y.get(),
+    			-Robot.OI.driver.getThumbstick("RS").Y.get());
     }
 
     // Make this return true when this Command no longer needs to run execute()

src/org/usfirst/frc/team4737/robot/commands/intake/ControlIntake.java

@@ -19,7 +19,9 @@ protected void initialize() {
 
 	// Called repeatedly when this Command is scheduled to run
 	protected void execute() {
-		Robot.INTAKE.setSpeed(-Robot.OI.operator.getAxis("LT").get() + Robot.OI.operator.getAxis("RT").get());
+		double speed = -Robot.OI.operator.getAxis("LT").get() + Robot.OI.operator.getAxis("RT").get();
+		double twist = Robot.OI.operator.getAxis("RS_X").get();
+		Robot.INTAKE.setLRSpeed(speed - twist, speed + twist);
 	}
 
 	// Make this return true when this Command no longer needs to run execute()
@@ -36,4 +38,5 @@ protected void end() {
 	protected void interrupted() {
 		Robot.INTAKE.setSpeed(0);
 	}
+
 }

src/org/usfirst/frc/team4737/robot/commands/intake/TwistIntake.java

@@ -0,0 +1,43 @@
+package org.usfirst.frc.team4737.robot.commands.intake;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class TwistIntake extends Command {
+
+	private double speed;
+
+    public TwistIntake(double speed) {
+        requires(Robot.INTAKE);
+
+        this.speed = speed;
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	Robot.INTAKE.setLRSpeed(speed, -speed);
+    }
+
+    // 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() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+
+}

src/org/usfirst/frc/team4737/robot/subsystems/Drivetrain.java

@@ -30,8 +30,8 @@ public Drivetrain() {
 		leftBackSlave.follow(leftFrontMaster);
 		rightBackSlave.follow(rightFrontMaster);
 
-		leftFrontMaster.configOpenloopRamp(0.5, 30);
-		rightFrontMaster.configOpenloopRamp(0.5, 30);
+		leftFrontMaster.configOpenloopRamp(0.25, 30);
+		rightFrontMaster.configOpenloopRamp(0.25, 30);
 
 		drive = new DifferentialDrive(leftFrontMaster, rightFrontMaster);
 	}

src/org/usfirst/frc/team4737/robot/subsystems/Intake.java

@@ -15,15 +15,12 @@ public class Intake extends Subsystem {
 	// Put methods for controlling this subsystem
 	// here. Call these from Commands.
 
-	private WPI_TalonSRX leftMotorMaster;
-	private WPI_TalonSRX rightMotorSlave;
+	private WPI_TalonSRX leftMotor;
+	private WPI_TalonSRX rightMotor;
 
 	public Intake() {
-		leftMotorMaster = new WPI_TalonSRX(RobotMap.INTAKE_LEFT);
-		rightMotorSlave = new WPI_TalonSRX(RobotMap.INTAKE_RIGHT);
-
-		rightMotorSlave.setInverted(true);
-		rightMotorSlave.follow(leftMotorMaster);
+		leftMotor = new WPI_TalonSRX(RobotMap.INTAKE_LEFT);
+		rightMotor = new WPI_TalonSRX(RobotMap.INTAKE_RIGHT);
 	}
 
 	public void initDefaultCommand() {
@@ -37,7 +34,12 @@ public void initDefaultCommand() {
 	 *            ranges from -1 to 1.
 	 */
 	public void setSpeed(double speed) {
-		leftMotorMaster.set(speed);
+		setLRSpeed(speed, speed);
+	}
+
+	public void setLRSpeed(double left, double right) {
+		leftMotor.set(left);
+		rightMotor.set(right);
 	}
 
 }