Created command based robot

.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
+	<classpathentry kind="var" path="networktables" sourcepath="ntcore.sources"/>
+	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
+	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
+	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/navx_frc.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>FRC-4737-2018</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

build.properties

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+# Project specific information
+package=org.usfirst.frc.team4737.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

build.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>

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

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc.team4737.robot;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+	//// CREATING BUTTONS
+	// One type of button is a joystick button which is any button on a
+	//// joystick.
+	// You create one by telling it which joystick it's on and which button
+	// number it is.
+	// Joystick stick = new Joystick(port);
+	// Button button = new JoystickButton(stick, buttonNumber);
+
+	// There are a few additional built in buttons you can use. Additionally,
+	// by subclassing Button you can create custom triggers and bind those to
+	// commands the same as any other Button.
+
+	//// TRIGGERING COMMANDS WITH BUTTONS
+	// Once you have a button, it's trivial to bind it to a button in one of
+	// three ways:
+
+	// Start the command when the button is pressed and let it run the command
+	// until it is finished as determined by it's isFinished method.
+	// button.whenPressed(new ExampleCommand());
+
+	// Run the command while the button is being held down and interrupt it once
+	// the button is released.
+	// button.whileHeld(new ExampleCommand());
+
+	// Start the command when the button is released and let it run the command
+	// until it is finished as determined by it's isFinished method.
+	// button.whenReleased(new ExampleCommand());
+}

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

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc.team4737.robot;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import org.usfirst.frc.team4737.robot.commands.ExampleCommand;
+import org.usfirst.frc.team4737.robot.subsystems.ExampleSubsystem;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the TimedRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.properties file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+	public static final ExampleSubsystem kExampleSubsystem
+			= new ExampleSubsystem();
+	public static OI m_oi;
+
+	Command m_autonomousCommand;
+	SendableChooser<Command> m_chooser = new SendableChooser<>();
+
+	/**
+	 * This function is run when the robot is first started up and should be
+	 * used for any initialization code.
+	 */
+	@Override
+	public void robotInit() {
+		m_oi = new OI();
+		m_chooser.addDefault("Default Auto", new ExampleCommand());
+		// chooser.addObject("My Auto", new MyAutoCommand());
+		SmartDashboard.putData("Auto mode", m_chooser);
+	}
+
+	/**
+	 * 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() {
+
+	}
+
+	@Override
+	public void disabledPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+	/**
+	 * This autonomous (along with the chooser code above) shows how to select
+	 * between different autonomous modes using the dashboard. The sendable
+	 * chooser code works with the Java SmartDashboard. If you prefer the
+	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+	 * getString code to get the auto name from the text box below the Gyro
+	 *
+	 * <p>You can add additional auto modes by adding additional commands to the
+	 * chooser code above (like the commented example) or additional comparisons
+	 * to the switch structure below with additional strings & commands.
+	 */
+	@Override
+	public void autonomousInit() {
+		m_autonomousCommand = m_chooser.getSelected();
+
+		/*
+		 * String autoSelected = SmartDashboard.getString("Auto Selector",
+		 * "Default"); switch(autoSelected) { case "My Auto": autonomousCommand
+		 * = new MyAutoCommand(); break; case "Default Auto": default:
+		 * autonomousCommand = new ExampleCommand(); break; }
+		 */
+
+		// schedule the autonomous command (example)
+		if (m_autonomousCommand != null) {
+			m_autonomousCommand.start();
+		}
+	}
+
+	/**
+	 * This function is called periodically during autonomous.
+	 */
+	@Override
+	public void autonomousPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+	@Override
+	public void teleopInit() {
+		// This makes sure that the autonomous stops running when
+		// teleop starts running. If you want the autonomous to
+		// continue until interrupted by another command, remove
+		// this line or comment it out.
+		if (m_autonomousCommand != null) {
+			m_autonomousCommand.cancel();
+		}
+	}
+
+	/**
+	 * This function is called periodically during operator control.
+	 */
+	@Override
+	public void teleopPeriodic() {
+		Scheduler.getInstance().run();
+	}
+
+	/**
+	 * This function is called periodically during test mode.
+	 */
+	@Override
+	public void testPeriodic() {
+	}
+}

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

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc.team4737.robot;
+
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+	// For example to map the left and right motors, you could define the
+	// following variables to use with your drivetrain subsystem.
+	// public static int leftMotor = 1;
+	// public static int rightMotor = 2;
+
+	// If you are using multiple modules, make sure to define both the port
+	// number and the module. For example you with a rangefinder:
+	// public static int rangefinderPort = 1;
+	// public static int rangefinderModule = 1;
+}

src/org/usfirst/frc/team4737/robot/commands/ExampleCommand.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc.team4737.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import org.usfirst.frc.team4737.robot.Robot;
+
+/**
+ * An example command.  You can replace me with your own command.
+ */
+public class ExampleCommand extends Command {
+	public ExampleCommand() {
+		// Use requires() here to declare subsystem dependencies
+		requires(Robot.kExampleSubsystem);
+	}
+
+	// Called just before this Command runs the first time
+	@Override
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	@Override
+	protected void execute() {
+	}
+
+	// Make this return true when this Command no longer needs to run execute()
+	@Override
+	protected boolean isFinished() {
+		return false;
+	}
+
+	// Called once after isFinished returns true
+	@Override
+	protected void end() {
+	}
+
+	// Called when another command which requires one or more of the same
+	// subsystems is scheduled to run
+	@Override
+	protected void interrupted() {
+	}
+}

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

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.usfirst.frc.team4737.robot.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ * An example subsystem.  You can replace me with your own Subsystem.
+ */
+public class ExampleSubsystem extends Subsystem {
+	// Put methods for controlling this subsystem
+	// here. Call these from Commands.
+
+	public void initDefaultCommand() {
+		// Set the default command for a subsystem here.
+		// setDefaultCommand(new MySpecialCommand());
+	}
+}