Added navx

build.properties

@@ -1,4 +1,4 @@
 # Project specific information
-package=com.mercury1089.main
+package=org.usfirst.frc.team1089.robot
 robot.class=${package}.Robot
 simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

src/org/usfirst/frc/team1089/robot/OI.java

@@ -41,9 +41,9 @@ public class OI {
 
     public OI() {
 
-        leftStick = new Joystick(RobotMap.USB.LEFT_STICK);
-        rightStick = new Joystick(RobotMap.USB.RIGHT_STICK);
-        gamePad = new Joystick(RobotMap.USB.GAMEPAD);
+        leftStick = new Joystick(RobotMap.DS_USB.LEFT_STICK);
+        rightStick = new Joystick(RobotMap.DS_USB.RIGHT_STICK);
+        gamePad = new Joystick(RobotMap.DS_USB.GAMEPAD);
 
     	//// TRIGGERING COMMANDS WITH BUTTONS
     	// Once you have a button, it's trivial to bind it to a button in one of

src/org/usfirst/frc/team1089/robot/Robot.java

@@ -38,7 +38,7 @@ public class Robot extends IterativeRobot {
 	 */
 	@Override
 	public void robotInit() {
-		// Instantiate the sybsystems
+		// Instantiate the subsystems
 		exampleSubsystem = new ExampleSubsystem();
 		driveTrain = new DriveTrain();
 

src/org/usfirst/frc/team1089/robot/RobotMap.java

@@ -42,7 +42,7 @@ public static class CAN {
 	 * The {@code USB} subclass contains all the ports for anything using the USB interface.
 	 * This only contains the joysticks.
 	 */
-	public static class USB {
+	public static class DS_USB {
 		public static final int LEFT_STICK = 1;
 		public static final int RIGHT_STICK = 0;
 		public static final int GAMEPAD = 2;

src/org/usfirst/frc/team1089/robot/subsystems/DriveTrain.java

@@ -7,7 +7,8 @@
 
 import com.ctre.CANTalon;
 import com.ctre.CANTalon.FeedbackDevice;
-
+import com.kauailabs.navx.frc.AHRS;
+import edu.wpi.first.wpilibj.SerialPort;
 import edu.wpi.first.wpilibj.AnalogGyro;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.RobotDrive;
@@ -19,20 +20,20 @@
  */
 public class DriveTrain extends Subsystem {
 
-	private OI oi;
-
     private AnalogGyro gyro;
     private CANTalon leftBack;
     private CANTalon rightBack;
     private CANTalon leftFront;
     private CANTalon rightFront;
     private RobotDrive robotDrive;
+    private AHRS navx;
 
 	public DriveTrain() {
-		oi = Robot.oi;
 
         gyro = new AnalogGyro(RobotMap.Analog.GYRO);
         gyro.setSensitivity(0.007); // TODO Move this to Config
+
+        navx = new AHRS(SerialPort.Port.kUSB1);
 
         leftBack = new CANTalon(RobotMap.CAN.LEFT_BACK_TALON_ID);
         leftFront = new CANTalon(RobotMap.CAN.LEFT_FRONT_TALON_ID);
@@ -62,6 +63,7 @@ public DriveTrain() {
         robotDrive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
 
         LiveWindow.addSensor("DriveTrain", "Gyro", gyro);
+        LiveWindow.addSensor("DriveTrain", "Nav-X", navx);
         LiveWindow.addActuator("DriveTrain", "LeftFront", leftFront);
         LiveWindow.addActuator("DriveTrain", "RightFront", rightFront);
 
@@ -84,8 +86,8 @@ public void initDefaultCommand() {
      */
     public void joystickDrive(Joystick leftStick, Joystick rightStick) {
     	// Apply the joystick deadzones to the move and rotate values
-    	double moveValue = oi.applyDeadzone(leftStick.getX(), oi.JS_DEADZONE_LIMIT);
-    	double rotateValue = oi.applyDeadzone(rightStick.getY(), oi.JS_DEADZONE_LIMIT);
+    	double moveValue = Robot.oi.applyDeadzone(rightStick.getX(), Robot.oi.JS_DEADZONE_LIMIT);
+    	double rotateValue = Robot.oi.applyDeadzone(leftStick.getY(), Robot.oi.JS_DEADZONE_LIMIT);
     	robotDrive.arcadeDrive(moveValue, rotateValue);
     }