RELEASE COMMIT

-Fixed Helper Classes for user input
-GyroDrive pidLoop output negated
	-GyroDrive now functions correctly
-Removed testing GyroDrive from Robot
-Changed controller ports
-Removed ALL vision code

src/com/team3925/robot2016/OI.java

@@ -52,9 +52,9 @@ public final class OI {
      until it is finished as determined by it's isFinished method.
      button.whenReleased(new ExampleCommand()); */
 
-	public Joystick xboxDriver;
-	public Joystick xboxShooter;
-	public Joystick wheel;
+	public Joystick driverFlightstick;
+	public Joystick driverWheel;
+	public Joystick shooterXbox;
 
 	public Button startCollectBall;
 	public Button startThrowBallFar;
@@ -75,40 +75,40 @@ public final class OI {
 
 	public OI() {
 
-		xboxDriver = new Joystick(0);
-		xboxShooter = new Joystick(1);
-		wheel = new Joystick(2);
+		driverFlightstick = new Joystick(0);
+		driverWheel = new Joystick(1);
+		shooterXbox = new Joystick(2);
 
 		collectBall = new CollectBall();
 		throwBallFar = new ThrowBall(Constants.LAUNCHER_THROWBALL_FAR_ANGLE, 1, 5);
 		throwBallNear = new ThrowBall(Constants.LAUNCHER_THROWBALL_NEAR_ANGLE, 1, 5);
 		throwBallLow = new ThrowBall(0, 1, 1);
 
-		startCollectBall = new JoystickButton(xboxShooter, XboxHelper.A);
+		startCollectBall = new JoystickButton(shooterXbox, XboxHelper.A);
 		startCollectBall.whenPressed(collectBall);
 		startCollectBall.cancelWhenPressed(throwBallNear);
 		startCollectBall.cancelWhenPressed(throwBallFar);
 		startCollectBall.cancelWhenPressed(throwBallLow);
 
-		startThrowBallFar = new JoystickButton(xboxShooter, XboxHelper.Y);
+		startThrowBallFar = new JoystickButton(shooterXbox, XboxHelper.Y);
 		startThrowBallFar.whenPressed(throwBallFar);
 		startThrowBallFar.cancelWhenPressed(collectBall);
 		startThrowBallFar.cancelWhenPressed(throwBallNear);
 		startThrowBallFar.cancelWhenPressed(throwBallLow);
 
-		startThrowBallNear = new JoystickButton(xboxShooter, XboxHelper.X);
+		startThrowBallNear = new JoystickButton(shooterXbox, XboxHelper.X);
 		startThrowBallNear.whenPressed(throwBallNear);
 		startThrowBallNear.cancelWhenPressed(throwBallFar);
 		startThrowBallNear.cancelWhenPressed(collectBall);
 		startThrowBallNear.cancelWhenPressed(throwBallLow);
 
-		startThrowBallLow = new JoystickButton(xboxShooter, XboxHelper.B);
+		startThrowBallLow = new JoystickButton(shooterXbox, XboxHelper.B);
 		startThrowBallLow.whenPressed(throwBallLow);
 		startThrowBallLow.cancelWhenPressed(throwBallFar);
 		startThrowBallLow.cancelWhenPressed(collectBall);
 		startThrowBallLow.cancelWhenPressed(throwBallNear);
 
-		cancelCommands = new JoystickButton(xboxShooter, XboxHelper.START);
+		cancelCommands = new JoystickButton(shooterXbox, XboxHelper.START);
 		cancelCommands.cancelWhenPressed(collectBall);
 		cancelCommands.cancelWhenPressed(throwBallFar);
 		cancelCommands.cancelWhenPressed(throwBallNear);
@@ -194,21 +194,19 @@ public CommandGroup setAutonomous() {
 	// ROBOT BEHAVIOR
 
 	public double getManualDrive_ForwardValue() {
-//		return xboxDriver.getRawAxis(1);
 		return FlightStickHelper.getAxis(FlightStickHelper.AXIS_Y);
 	}
 
 	public boolean getVisionShoot_GyroTurnEnable() {
-		return XboxHelper.getDriverAxis(XboxHelper.AXIS_TRIGGER_LEFT) > 0.2 ||
-				XboxHelper.getDriverAxis(XboxHelper.AXIS_TRIGGER_RIGHT) > 0.2; // slightly larger deadzone for safety
+		return false; //TODO add user input
 	}
 
 	public double getManualDrive_RotateValue() {
 		return -ThrustmasterHelper.getAxis(ThrustmasterHelper.AXIS_WHEEL);
 	}
 
 	public boolean getManualDrive_HighGearToggle() {
-		return XboxHelper.getDriverButton(XboxHelper.TRIGGER_LT);
+		return false; //TODO Figure out what to do with this
 	}
 
 	public boolean getManualDrive_QuickTurn() {
@@ -253,7 +251,7 @@ public boolean getManualArms_GetArmValue() {
 	}
 
 	public boolean getCommandCancel() {
-		return XboxHelper.getShooterButton(START) || XboxHelper.getDriverButton(START);
+		return XboxHelper.getShooterButton(START);
 	}
 
 

src/com/team3925/robot2016/Robot.java

@@ -6,15 +6,15 @@
 import static com.team3925.robot2016.Constants.DO_LOG_PDP_VALUES;
 
 import com.kauailabs.navx.frc.AHRS;
-import com.team3925.robot2016.commands.auto.GyroDrive;
 import com.team3925.robot2016.commands.auto.GyroTurn;
 import com.team3925.robot2016.subsystems.DriveTrain;
 import com.team3925.robot2016.subsystems.IntakeAssist;
 import com.team3925.robot2016.subsystems.Launcher;
 import com.team3925.robot2016.util.DriveTrainSignal;
-import com.team3925.robot2016.util.PixyCmu5;
 import com.team3925.robot2016.util.SmartdashBoardLoggable;
 import com.team3925.robot2016.util.TimeoutAction;
+import com.team3925.robot2016.util.hidhelpers.FlightStickHelper;
+import com.team3925.robot2016.util.hidhelpers.ThrustmasterHelper;
 import com.team3925.robot2016.util.hidhelpers.XboxHelper;
 
 import edu.wpi.first.wpilibj.DriverStation;
@@ -46,15 +46,13 @@ public class Robot extends IterativeRobot implements SmartdashBoardLoggable {
 	public static PowerDistributionPanel pdp;
 	public static OI oi;
 	public static CheesyDriveHelper cdh;
-	public static PixyCmu5 pixy;
 	private static TimeoutAction brakeBeforeMatchEnd = new TimeoutAction();
 
 	//Commands
 	private CommandGroup autoRoutine;
 //	private ManualDrive manualDrive;
 //	private ManualIntakeAssist manualIntakeAssist;
 	private GyroTurn visionGyroTurn = null;
-	private GyroDrive testing_GyroDrive;
 
 	//Variables
 	public static double deltaTime = 0;
@@ -73,11 +71,6 @@ public Robot() {
 		} catch (RuntimeException e) {
 			DriverStation.reportError("There was an error instantiating the NavxMXP!\n" + e.getMessage(), true);
 		}
-		try {
-    	    pixy = new PixyCmu5(168, .25);
-		} catch (Exception e) {
-			DriverStation.reportError("There was an error instantiating the Pixy/Frames!" + e.getMessage(), true);
-		}
 	}
 
 	/**
@@ -99,12 +92,13 @@ public void robotInit() {
 		// constructed yet. Thus, their requires() statements may grab null
 		// pointers. Bad news. Don't move it.
 		oi = new OI();
-		XboxHelper.init();
+		XboxHelper.config(oi.shooterXbox);
+		FlightStickHelper.config(oi.driverFlightstick);
+		ThrustmasterHelper.config(oi.driverWheel);
 		cdh = new CheesyDriveHelper(driveTrain);
 
 		//Creating Commands
 		visionGyroTurn = new GyroTurn(0);
-		testing_GyroDrive = new GyroDrive();
 
 		reset();
 	}

src/com/team3925/robot2016/commands/auto/GyroDrive.java

@@ -69,8 +69,8 @@ protected void execute() {
 		}
 		pidLoop.calculate(currentAngle + rotations*360);
 
-		// normally negative
-		driveTrain.arcadeDrive(-forwardPower, pidLoop.get(), false);
+		// normally negative for drive power | pid loop input was positive on comp robot
+		driveTrain.arcadeDrive(-forwardPower, -pidLoop.get(), false);
 
 		// logic for slowing down or stopping here
 

src/com/team3925/robot2016/subsystems/Launcher.java

@@ -5,19 +5,15 @@
 import static com.team3925.robot2016.Constants.LAUNCHER_AIM_KP;
 
 import com.team3925.robot2016.Constants;
-import com.team3925.robot2016.Robot;
 import com.team3925.robot2016.RobotMap;
 import com.team3925.robot2016.util.Loopable;
 import com.team3925.robot2016.util.MiscUtil;
-import com.team3925.robot2016.util.PixyCmu5;
-import com.team3925.robot2016.util.PixyCmu5.PixyFrame;
 import com.team3925.robot2016.util.SmartdashBoardLoggable;
 import com.team3925.robot2016.util.SynchronousPID;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
-import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -35,8 +31,6 @@ public final class Launcher extends Subsystem implements SmartdashBoardLoggable,
     private final CANTalon motorAim = RobotMap.launcherMotorAim;
     private final DoubleSolenoid puncherSolenoid = RobotMap.launcherPuncherSolenoid;
     private SynchronousPID aimPidLoop = new SynchronousPID();
-    private final PixyCmu5 pixy = Robot.pixy;
-    private PixyFrame latestFrame = null;
     private double turnAngle = Double.NaN;
 
     private boolean aimEnabled = false,
@@ -125,26 +119,6 @@ public void update() {
 			motorLeft.set(-intakeSpeed);
 			motorRight.set(intakeSpeed);
 
-
-			// CAMERA
-
-			if (pixy != null) {
-				try {
-					latestFrame = pixy.getCurrentframes().get(0);
-				} catch (Exception e) {
-					DriverStation.reportWarning("Could not retrieve latest camera frame!", false);
-				}
-
-				if (pixy.isObjectDetected()) {
-					turnAngle = PixyCmu5.degreesXFromCenter(latestFrame);
-				} else {
-					turnAngle = Double.NaN;
-				}
-
-			} else {
-				turnAngle = Double.NaN;
-			}
-
 		}
 
 	/**
@@ -231,17 +205,6 @@ public void logData() {
 		putNumberSD("MotorAim_getPosition", motorAim.getPosition());
 		putNumberSD("MotorAim_getSetpoint", motorAim.getSetpoint());
 
-		// CAMERA
-
-		if (pixy != null) {
-			putBooleanSD("Vision_Detected_Target", pixy.isObjectDetected());
-
-			if (latestFrame != null) {
-				putBooleanSD("Vision_CanShoot", pixy.isInXCenter(latestFrame));
-				putNumberSD("AngleToTarget", turnAngle);
-			}
-		}
-
 	}
 }
 

src/com/team3925/robot2016/util/hidhelpers/FlightStickHelper.java

@@ -36,6 +36,7 @@ private FlightStickHelper() {}
 
 	public static void config(Joystick stick) {
 		FlightStickHelper.stick = stick;
+		needsInit = false;
 	}
 
 	public static double getAxis(int axis) {

src/com/team3925/robot2016/util/hidhelpers/ThrustmasterHelper.java

@@ -29,6 +29,7 @@ private ThrustmasterHelper() {}
 
 	public static void config(Joystick wheel) {
 		ThrustmasterHelper.wheel = wheel;
+		needsInit = false;
 	}
 
 	public static double getAxis(int axis) {

src/com/team3925/robot2016/util/hidhelpers/XboxHelper.java

@@ -1,7 +1,6 @@
 package com.team3925.robot2016.util.hidhelpers;
 
 import com.team3925.robot2016.Constants;
-import com.team3925.robot2016.Robot;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Joystick.RumbleType;
@@ -14,7 +13,6 @@
 public class XboxHelper {
 	private XboxHelper() {}
 
-	private static Joystick driver;
 	private static Joystick shooter;
 
 	public static final int
@@ -36,51 +34,40 @@ private XboxHelper() {}
 	AXIS_TRIGGER_LEFT = 2,
 	AXIS_TRIGGER_RIGHT = 3;
 
-	private static boolean hasInit = false;
+	private static boolean needsInit = true;
 
-	public static void init() {
-		driver = Robot.oi.xboxDriver;
-		shooter = Robot.oi.xboxShooter;
+	public static void config(Joystick xbox) {
+		shooter = xbox;
+		needsInit = false;
 	}
 
 	public static double getShooterAxis(int axis) {
-		if (!hasInit) {	init();	}
-		return Math.abs(shooter.getRawAxis(axis)) > Math.abs(Constants.AXIS_TOLERANCE) ? shooter.getRawAxis(axis) : 0;
+		if (needsInit) {
+			return 0d;
+		} else {
+			return Math.abs(shooter.getRawAxis(axis)) > Math.abs(Constants.AXIS_TOLERANCE) ? shooter.getRawAxis(axis) : 0;
+		}
 	}
 
 	public static boolean getShooterButton(int button) {
-		if (!hasInit) {	init();	}
-		return shooter.getRawButton(button);
+		if (needsInit) {
+			return false;
+		} else {
+			return shooter.getRawButton(button);
+		}
 	}
 
 	public static double getShooterPOV() {
-		if (!hasInit) {	init();	}
-		return shooter.getPOV();
-	}
-
-	public static double getDriverAxis(int axis) {
-		if (!hasInit) {	init();	}
-		return Math.abs(driver.getRawAxis(axis)) > Math.abs(Constants.AXIS_TOLERANCE) ? driver.getRawAxis(axis) : 0;
-	}
-
-	public static boolean getDriverButton(int button) {
-		if (!hasInit) {	init();	}
-		return driver.getRawButton(button);
-	}
-
-	public static double getDriverPOV() {
-		if (!hasInit) {	init();	}
-		return driver.getPOV();
+		if (needsInit) {
+			return 0d;
+		} else {
+			return shooter.getPOV();
+		}
 	}
 
 	public static void setShooterRumble(float magnitude) {
 		shooter.setRumble(RumbleType.kLeftRumble, magnitude);
 		shooter.setRumble(RumbleType.kRightRumble, magnitude);
 	}
 
-	public static void setDriverRumble(float magnitude) {
-		driver.setRumble(RumbleType.kLeftRumble, magnitude);
-		driver.setRumble(RumbleType.kRightRumble, magnitude);
-	}
-
 }