Added IntakeGrip subsystem and controls

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

@@ -10,10 +10,10 @@
 import org.usfirst.frc.team4737.lib.Gamepad;
 import org.usfirst.frc.team4737.lib.XboxController;
 import org.usfirst.frc.team4737.lib.F310Gamepad;
-import org.usfirst.frc.team4737.robot.commands.drivetrain.TeleopRacingDrive;
-import org.usfirst.frc.team4737.robot.commands.elevator.ControlElevator;
-import org.usfirst.frc.team4737.robot.commands.elevator.RelaxElevator;
-import org.usfirst.frc.team4737.robot.commands.intake.ControlIntake;
+import org.usfirst.frc.team4737.robot.commands.drivetrain.*;
+import org.usfirst.frc.team4737.robot.commands.elevator.*;
+import org.usfirst.frc.team4737.robot.commands.intake.*;
+import org.usfirst.frc.team4737.robot.commands.intakegrip.*;
 
 import edu.wpi.first.wpilibj.buttons.Trigger;
 
@@ -78,12 +78,16 @@ public boolean get() {
 				return operator.getAxis("LS_Y").get() != 0;
 			}
 		}.whileActive(new ControlElevator());
-		
+
 		// Allow operator to instantly relax elevator in case of motor overheat
 		operator.getButton("Y").whileHeld(new RelaxElevator());
-
-		//		operator.getDPad("DPAD").LEFT.whileActive(new TwistIntake(1));
-		//		operator.getDPad("DPAD").RIGHT.whileActive(new TwistIntake(-1));
+
+		// Take control of intake grip
+		operator.getButton("A").whileHeld(new ControlIntakeGrip());
+		operator.getButton("B").whileHeld(new ControlIntakeGrip());
+
+		// operator.getDPad("DPAD").LEFT.whileActive(new TwistIntake(1));
+		// operator.getDPad("DPAD").RIGHT.whileActive(new TwistIntake(-1));
 
 	}
 

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

@@ -29,6 +29,7 @@ public class Robot extends TimedRobot {
 	public static final Drivetrain DRIVETRAIN = new Drivetrain();
 	public static final Elevator ELEVATOR = new Elevator();
 	public static final Intake INTAKE = new Intake();
+	public static final IntakeGrip INTAKEGRIP = new IntakeGrip();
 	public static final Climber CLIMBER = new Climber();
 	public static final ControlSystem CONTROLSYSTEM = new ControlSystem();
 

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

@@ -15,9 +15,9 @@
  */
 public class RobotMap {
 
-	// ################
-	// TalonSRX CAN IDs
-	// ################
+	// #####################
+	// Actuator IDs/Channels
+	// #####################
 
 	// Drivetrain
 	public static final int DRIVE_LEFT_MASTER = 11;
@@ -29,6 +29,13 @@ public class RobotMap {
 	public static final int INTAKE_LEFT = 15;
 	public static final int INTAKE_RIGHT = 16;
 
+	public static final int INTAKE_LEFT_PISTON_MODULE = 0;
+	public static final int INTAKE_LEFT_PISTON_FORWARD_CHANNEL = 0;
+	public static final int INTAKE_LEFT_PISTON_REVERSE_CHANNEL = 1;
+	public static final int INTAKE_RIGHT_PISTON_MODULE = 0;
+	public static final int INTAKE_RIGHT_PISTON_FORWARD_CHANNEL = 2;
+	public static final int INTAKE_RIGHT_PISTON_REVERSE_CHANNEL = 3;
+
 	// Elevator
 	public static final int ELEVATOR_MOTOR = 17;
 

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

@@ -10,34 +10,34 @@
 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() {
-    }
-    
+
+	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/commands/intakegrip/ControlIntakeGrip.java

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team4737.robot.commands.intakegrip;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ControlIntakeGrip extends Command {
+
+	public ControlIntakeGrip() {
+		requires(Robot.INTAKEGRIP);
+	}
+
+	// Called just before this Command runs the first time
+	protected void initialize() {
+	}
+
+	// Called repeatedly when this Command is scheduled to run
+	protected void execute() {
+		boolean grab = Robot.OI.operator.getButton("A").get();
+		boolean release = Robot.OI.operator.getButton("B").get();
+
+		if (grab) {
+			Robot.INTAKEGRIP.closePneumatics();
+		} else if (release) {
+			Robot.INTAKEGRIP.openPneumatics();
+		}
+	}
+
+	// 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/commands/intakegrip/StopIntakeGrip.java

@@ -0,0 +1,39 @@
+package org.usfirst.frc.team4737.robot.commands.intakegrip;
+
+import org.usfirst.frc.team4737.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class StopIntakeGrip extends Command {
+
+	public StopIntakeGrip() {
+		requires(Robot.INTAKEGRIP);
+	}
+
+	// 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.INTAKEGRIP.disablePneumatics();
+	}
+
+	// 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/Intake.java

@@ -33,7 +33,7 @@ public void initDefaultCommand() {
 	public void setSpeed(double speed) {
 		setLRSpeed(speed, speed);
 	}
-	
+
 	public void setLRSpeed(double left, double right) {
 		leftMotor.set(left);
 		rightMotor.set(right);

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

@@ -0,0 +1,46 @@
+package org.usfirst.frc.team4737.robot.subsystems;
+
+import org.usfirst.frc.team4737.robot.RobotMap;
+import org.usfirst.frc.team4737.robot.commands.intakegrip.StopIntakeGrip;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class IntakeGrip extends Subsystem {
+
+	private DoubleSolenoid leftPneumatic;
+	private DoubleSolenoid rightPneumatic;
+
+	public IntakeGrip() {
+		leftPneumatic = new DoubleSolenoid(RobotMap.INTAKE_LEFT_PISTON_MODULE,
+				RobotMap.INTAKE_LEFT_PISTON_FORWARD_CHANNEL, RobotMap.INTAKE_LEFT_PISTON_REVERSE_CHANNEL);
+		rightPneumatic = new DoubleSolenoid(RobotMap.INTAKE_RIGHT_PISTON_MODULE,
+				RobotMap.INTAKE_RIGHT_PISTON_FORWARD_CHANNEL, RobotMap.INTAKE_RIGHT_PISTON_REVERSE_CHANNEL);
+	}
+
+	public void initDefaultCommand() {
+		setDefaultCommand(new StopIntakeGrip());
+	}
+
+	public void closePneumatics() {
+		setPneumatics(Value.kReverse, Value.kReverse);
+	}
+
+	public void openPneumatics() {
+		setPneumatics(Value.kForward, Value.kForward);
+	}
+
+	public void disablePneumatics() {
+		setPneumatics(Value.kOff, Value.kOff);
+	}
+
+	public void setPneumatics(DoubleSolenoid.Value left, DoubleSolenoid.Value right) {
+		leftPneumatic.set(left);
+		rightPneumatic.set(right);
+	}
+
+}