Merge branch 'main' of https://github.com/Spartronics4915/2021-TestRobot

 into main

.vscode/settings.json

@@ -19,5 +19,6 @@
         "**/.project": true,
         "**/.factorypath": true,
         "**/*~": true
+
     }
 }

quotes.txt

@@ -0,0 +1,2 @@
+"beep bop boop I make lines"
+-Evan Kuykendall, 2021

src/main/java/com/spartronics4915/frc/Constants.java

@@ -11,5 +11,5 @@
  */
 public final class Constants
 {
-    public static final int kTestMotorId = 0;
+    public static final int kTestMotorId = 1;
 }

src/main/java/com/spartronics4915/frc/Robot.java

@@ -3,6 +3,8 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import com.spartronics4915.lib.subsystems.SpartronicsSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends TimedRobot
 {
@@ -38,6 +40,7 @@ public void robotPeriodic()
         // periodic() methods.
         // This must be called from the robot's periodic block in order for
         // anything in the command-based framework to work.
+        SmartDashboard.putString("robotPeriodic","Entered");
         CommandScheduler.getInstance().run();
     }
 

src/main/java/com/spartronics4915/frc/RobotContainer.java

@@ -2,12 +2,14 @@
 
 import com.spartronics4915.frc.commands.ExampleCommand;
 import com.spartronics4915.frc.subsystems.ExampleSubsystem;
+import com.spartronics4915.lib.subsystems.SpartronicsSubsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 
-// Troy Edwards was here
+//
 
 /**
  * This class is where the bulk of the robot should be declared.
@@ -26,10 +28,11 @@ public class RobotContainer
     public RobotContainer()
     {
         // ...and constructed here.
-        mExampleSubsystem = new ExampleSubsystem();
+        mExampleSubsystem = ExampleSubsystem.getInstance();
         mAutoCommand = new ExampleCommand(mExampleSubsystem);
 
         configureButtonBindings();
+        SmartDashboard.putString("Container","Completed");
     }
 
     /** Use this method to define your button ==> command mappings. */

src/main/java/com/spartronics4915/frc/commands/ExampleCommand.java

@@ -25,7 +25,7 @@ public ExampleCommand(ExampleSubsystem subsystem)
     // Called when the command is initially scheduled.
     @Override
     public void initialize() {
-        mExampleSubsystem.startTestMotor(1.0);
+        mExampleSubsystem.startTestMotor(0.3);
     }
 
     // Called every time the scheduler runs while the command is scheduled.

src/main/java/com/spartronics4915/frc/subsystems/ExampleSubsystem.java

@@ -3,7 +3,17 @@
 import com.spartronics4915.frc.Constants;
 import com.spartronics4915.lib.subsystems.SpartronicsSubsystem;
 
-import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+import com.revrobotics.CANError;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+/**
+ * We're not using Talon any more
+ * import edu.wpi.first.wpilibj.Talon;
+ * /
 
 /**
  * Detailed description of ExampleSubsystem.
@@ -12,15 +22,15 @@ public class ExampleSubsystem extends SpartronicsSubsystem
 {
     private static ExampleSubsystem sInstance = null;
     // The subsystem's hardware is defined here...
-    private static Talon mTestMotor;
+    private static CANSparkMax mTestMotor;
 
     /** Creates a new ExampleSubsystem. */
     public ExampleSubsystem()
     {
         boolean success = true;
         try
         {
-            mTestMotor = new Talon(Constants.kTestMotorId);
+            mTestMotor = new CANSparkMax(Constants.kTestMotorId,MotorType.kBrushless);
         }
         catch (Exception exception)
         {
@@ -30,7 +40,7 @@ public ExampleSubsystem()
         logInitialized(success);
     }
 
-    public static ExampleSubsystem getsInstance()
+    public static ExampleSubsystem getInstance()
     {
         if (sInstance == null) {
             sInstance = new ExampleSubsystem();
@@ -41,16 +51,21 @@ public static ExampleSubsystem getsInstance()
     // Subsystem methods - actions the robot can take - should be placed here.
 
     public void startTestMotor(double speed) {
+        SmartDashboard.putString("Motor","Starting motor");
         mTestMotor.set(speed);
+        SmartDashboard.putNumber("Speed",mTestMotor.get());
     }
 
     public void stopTestMotor() {
+        SmartDashboard.putString("Motor","Stopping motor");
         mTestMotor.set(0.0);
     }
 
     /** This method will be called once per scheduler run. */
     @Override
-    public void periodic() {}
+    public void periodic() {
+        SmartDashboard.putString("Periodic","Starting");
+    }
 
     /** This method will be called once per scheduler run during simulation. */
     @Override