diff --git a/.gitignore b/.gitignore
index a1c2a23..a8409e0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,3 +21,9 @@
# virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
hs_err_pid*
+.gradle/6.0.1/executionHistory/executionHistory.bin
+*.lock
+*.bin
+*.dll
+*.4
+*.so
diff --git a/.gradle/6.0.1/gc.properties b/.gradle/6.0.1/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/.gradle/buildOutputCleanup/cache.properties b/.gradle/buildOutputCleanup/cache.properties
new file mode 100644
index 0000000..bd57f87
--- /dev/null
+++ b/.gradle/buildOutputCleanup/cache.properties
@@ -0,0 +1,2 @@
+#Sat Jan 11 09:50:57 PST 2020
+gradle.version=6.0.1
diff --git a/.gradle/vcs-1/gc.properties b/.gradle/vcs-1/gc.properties
new file mode 100644
index 0000000..e69de29
diff --git a/.project b/.project
new file mode 100644
index 0000000..ec6abee
--- /dev/null
+++ b/.project
@@ -0,0 +1,17 @@
+
+
+ 6506-Code-Skeletor-Imported
+ Project 6506-Code-Skeletor-Imported created by Buildship.
+
+
+
+
+ org.eclipse.buildship.core.gradleprojectbuilder
+
+
+
+
+
+ org.eclipse.buildship.core.gradleprojectnature
+
+
diff --git a/.settings/org.eclipse.buildship.core.prefs b/.settings/org.eclipse.buildship.core.prefs
new file mode 100644
index 0000000..e889521
--- /dev/null
+++ b/.settings/org.eclipse.buildship.core.prefs
@@ -0,0 +1,2 @@
+connection.project.dir=
+eclipse.preferences.version=1
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..c9c9713
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,21 @@
+{
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+ "version": "0.2.0",
+ "configurations": [
+
+ {
+ "type": "wpilib",
+ "name": "WPILib Desktop Debug",
+ "request": "launch",
+ "desktop": true,
+ },
+ {
+ "type": "wpilib",
+ "name": "WPILib roboRIO Debug",
+ "request": "launch",
+ "desktop": false,
+ }
+ ]
+}
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..5200b5c
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,15 @@
+{
+ "java.configuration.updateBuildConfiguration": "automatic",
+ "files.exclude": {
+ "**/.git": true,
+ "**/.svn": true,
+ "**/.hg": true,
+ "**/CVS": true,
+ "**/.DS_Store": true,
+ "bin/": true,
+ "**/.classpath": true,
+ "**/.project": true,
+ "**/.settings": true,
+ "**/.factorypath": true
+ }
+}
diff --git a/.wpilib/wpilib_preferences.json b/.wpilib/wpilib_preferences.json
new file mode 100644
index 0000000..f0684e4
--- /dev/null
+++ b/.wpilib/wpilib_preferences.json
@@ -0,0 +1,6 @@
+{
+ "enableCppIntellisense": false,
+ "currentLanguage": "java",
+ "projectYear": "2020",
+ "teamNumber": 6506
+}
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
new file mode 100644
index 0000000..0e4fe1a
--- /dev/null
+++ b/build.gradle
@@ -0,0 +1,68 @@
+plugins {
+ id "java"
+ id "edu.wpi.first.GradleRIO" version "2020.1.2"
+}
+
+sourceCompatibility = JavaVersion.VERSION_11
+targetCompatibility = JavaVersion.VERSION_11
+
+def ROBOT_MAIN_CLASS = "frc.robot.Main"
+
+// Define my targets (RoboRIO) and artifacts (deployable files)
+// This is added by GradleRIO's backing project EmbeddedTools.
+deploy {
+ targets {
+ roboRIO("roborio") {
+ // Team number is loaded either from the .wpilib/wpilib_preferences.json
+ // or from command line. If not found an exception will be thrown.
+ // You can use getTeamOrDefault(team) instead of getTeamNumber if you
+ // want to store a team number in this file.
+ team = frc.getTeamNumber()
+ }
+ }
+ artifacts {
+ frcJavaArtifact('frcJava') {
+ targets << "roborio"
+ // Debug can be overridden by command line, for use with VSCode
+ debug = frc.getDebugOrDefault(false)
+ }
+ // Built in artifact to deploy arbitrary files to the roboRIO.
+ fileTreeArtifact('frcStaticFileDeploy') {
+ // The directory below is the local directory to deploy
+ files = fileTree(dir: 'src/main/deploy')
+ // Deploy to RoboRIO target, into /home/lvuser/deploy
+ targets << "roborio"
+ directory = '/home/lvuser/deploy'
+ }
+ }
+}
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = false
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 4.
+dependencies {
+ implementation wpi.deps.wpilib()
+ nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio)
+ nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop)
+
+
+ implementation wpi.deps.vendor.java()
+ nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
+ nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
+
+ testImplementation 'junit:junit:4.12'
+
+ // Enable simulation gui support. Must check the box in vscode to enable support
+ // upon debugging
+ simulation wpi.deps.sim.gui(wpi.platforms.desktop, false)
+}
+
+// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
+// in order to make them all available at runtime. Also adding the manifest so WPILib
+// knows where to look for our Robot Class.
+jar {
+ from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } }
+ manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS)
+}
diff --git a/build/debug/debuginfo.json b/build/debug/debuginfo.json
new file mode 100644
index 0000000..94b337d
--- /dev/null
+++ b/build/debug/debuginfo.json
@@ -0,0 +1,9 @@
+[
+ {
+ "artifact": "frcJava (in project 6506-Code-Skeletor-Imported)",
+ "target": "roborio",
+ "debugfile": "frcJava_roborio.debugconfig",
+ "project": "6506-Code-Skeletor-Imported",
+ "language": "java"
+ }
+]
\ No newline at end of file
diff --git a/build/debug/riopartial/6506-Code-Skeletor-Imported.json b/build/debug/riopartial/6506-Code-Skeletor-Imported.json
new file mode 100644
index 0000000..94b337d
--- /dev/null
+++ b/build/debug/riopartial/6506-Code-Skeletor-Imported.json
@@ -0,0 +1,9 @@
+[
+ {
+ "artifact": "frcJava (in project 6506-Code-Skeletor-Imported)",
+ "target": "roborio",
+ "debugfile": "frcJava_roborio.debugconfig",
+ "project": "6506-Code-Skeletor-Imported",
+ "language": "java"
+ }
+]
\ No newline at end of file
diff --git a/build/tmp/jar/MANIFEST.MF b/build/tmp/jar/MANIFEST.MF
new file mode 100644
index 0000000..5c77096
--- /dev/null
+++ b/build/tmp/jar/MANIFEST.MF
@@ -0,0 +1,3 @@
+Manifest-Version: 1.0
+Main-Class: frc.robot.Main
+
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
new file mode 100644
index 0000000..d050f17
--- /dev/null
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -0,0 +1,5 @@
+distributionBase=GRADLE_USER_HOME
+distributionPath=permwrapper/dists
+distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+zipStoreBase=GRADLE_USER_HOME
+zipStorePath=permwrapper/dists
diff --git a/gradlew b/gradlew
new file mode 100644
index 0000000..2fe81a7
--- /dev/null
+++ b/gradlew
@@ -0,0 +1,183 @@
+#!/usr/bin/env sh
+
+#
+# Copyright 2015 the original author or authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+##############################################################################
+##
+## Gradle start up script for UN*X
+##
+##############################################################################
+
+# Attempt to set APP_HOME
+# Resolve links: $0 may be a link
+PRG="$0"
+# Need this for relative symlinks.
+while [ -h "$PRG" ] ; do
+ ls=`ls -ld "$PRG"`
+ link=`expr "$ls" : '.*-> \(.*\)$'`
+ if expr "$link" : '/.*' > /dev/null; then
+ PRG="$link"
+ else
+ PRG=`dirname "$PRG"`"/$link"
+ fi
+done
+SAVED="`pwd`"
+cd "`dirname \"$PRG\"`/" >/dev/null
+APP_HOME="`pwd -P`"
+cd "$SAVED" >/dev/null
+
+APP_NAME="Gradle"
+APP_BASE_NAME=`basename "$0"`
+
+# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
+
+# Use the maximum available, or set MAX_FD != -1 to use that value.
+MAX_FD="maximum"
+
+warn () {
+ echo "$*"
+}
+
+die () {
+ echo
+ echo "$*"
+ echo
+ exit 1
+}
+
+# OS specific support (must be 'true' or 'false').
+cygwin=false
+msys=false
+darwin=false
+nonstop=false
+case "`uname`" in
+ CYGWIN* )
+ cygwin=true
+ ;;
+ Darwin* )
+ darwin=true
+ ;;
+ MINGW* )
+ msys=true
+ ;;
+ NONSTOP* )
+ nonstop=true
+ ;;
+esac
+
+CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
+
+# Determine the Java command to use to start the JVM.
+if [ -n "$JAVA_HOME" ] ; then
+ if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+ # IBM's JDK on AIX uses strange locations for the executables
+ JAVACMD="$JAVA_HOME/jre/sh/java"
+ else
+ JAVACMD="$JAVA_HOME/bin/java"
+ fi
+ if [ ! -x "$JAVACMD" ] ; then
+ die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+ fi
+else
+ JAVACMD="java"
+ which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+
+Please set the JAVA_HOME variable in your environment to match the
+location of your Java installation."
+fi
+
+# Increase the maximum file descriptors if we can.
+if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
+ MAX_FD_LIMIT=`ulimit -H -n`
+ if [ $? -eq 0 ] ; then
+ if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
+ MAX_FD="$MAX_FD_LIMIT"
+ fi
+ ulimit -n $MAX_FD
+ if [ $? -ne 0 ] ; then
+ warn "Could not set maximum file descriptor limit: $MAX_FD"
+ fi
+ else
+ warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
+ fi
+fi
+
+# For Darwin, add options to specify how the application appears in the dock
+if $darwin; then
+ GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
+fi
+
+# For Cygwin or MSYS, switch paths to Windows format before running java
+if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
+ APP_HOME=`cygpath --path --mixed "$APP_HOME"`
+ CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
+ JAVACMD=`cygpath --unix "$JAVACMD"`
+
+ # We build the pattern for arguments to be converted via cygpath
+ ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
+ SEP=""
+ for dir in $ROOTDIRSRAW ; do
+ ROOTDIRS="$ROOTDIRS$SEP$dir"
+ SEP="|"
+ done
+ OURCYGPATTERN="(^($ROOTDIRS))"
+ # Add a user-defined pattern to the cygpath arguments
+ if [ "$GRADLE_CYGPATTERN" != "" ] ; then
+ OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
+ fi
+ # Now convert the arguments - kludge to limit ourselves to /bin/sh
+ i=0
+ for arg in "$@" ; do
+ CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
+ CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option
+
+ if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition
+ eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
+ else
+ eval `echo args$i`="\"$arg\""
+ fi
+ i=`expr $i + 1`
+ done
+ case $i in
+ 0) set -- ;;
+ 1) set -- "$args0" ;;
+ 2) set -- "$args0" "$args1" ;;
+ 3) set -- "$args0" "$args1" "$args2" ;;
+ 4) set -- "$args0" "$args1" "$args2" "$args3" ;;
+ 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
+ 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
+ 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
+ 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
+ 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
+ esac
+fi
+
+# Escape application args
+save () {
+ for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
+ echo " "
+}
+APP_ARGS=`save "$@"`
+
+# Collect all arguments for the java command, following the shell quoting and substitution rules
+eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+
+exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
new file mode 100644
index 0000000..9618d8d
--- /dev/null
+++ b/gradlew.bat
@@ -0,0 +1,100 @@
+@rem
+@rem Copyright 2015 the original author or authors.
+@rem
+@rem Licensed under the Apache License, Version 2.0 (the "License");
+@rem you may not use this file except in compliance with the License.
+@rem You may obtain a copy of the License at
+@rem
+@rem https://www.apache.org/licenses/LICENSE-2.0
+@rem
+@rem Unless required by applicable law or agreed to in writing, software
+@rem distributed under the License is distributed on an "AS IS" BASIS,
+@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+@rem See the License for the specific language governing permissions and
+@rem limitations under the License.
+@rem
+
+@if "%DEBUG%" == "" @echo off
+@rem ##########################################################################
+@rem
+@rem Gradle startup script for Windows
+@rem
+@rem ##########################################################################
+
+@rem Set local scope for the variables with windows NT shell
+if "%OS%"=="Windows_NT" setlocal
+
+set DIRNAME=%~dp0
+if "%DIRNAME%" == "" set DIRNAME=.
+set APP_BASE_NAME=%~n0
+set APP_HOME=%DIRNAME%
+
+@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
+set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
+
+@rem Find java.exe
+if defined JAVA_HOME goto findJavaFromJavaHome
+
+set JAVA_EXE=java.exe
+%JAVA_EXE% -version >NUL 2>&1
+if "%ERRORLEVEL%" == "0" goto init
+
+echo.
+echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:findJavaFromJavaHome
+set JAVA_HOME=%JAVA_HOME:"=%
+set JAVA_EXE=%JAVA_HOME%/bin/java.exe
+
+if exist "%JAVA_EXE%" goto init
+
+echo.
+echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
+echo.
+echo Please set the JAVA_HOME variable in your environment to match the
+echo location of your Java installation.
+
+goto fail
+
+:init
+@rem Get command-line arguments, handling Windows variants
+
+if not "%OS%" == "Windows_NT" goto win9xME_args
+
+:win9xME_args
+@rem Slurp the command line arguments.
+set CMD_LINE_ARGS=
+set _SKIP=2
+
+:win9xME_args_slurp
+if "x%~1" == "x" goto execute
+
+set CMD_LINE_ARGS=%*
+
+:execute
+@rem Setup the command line
+
+set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
+
+@rem Execute Gradle
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+
+:end
+@rem End local scope for the variables with windows NT shell
+if "%ERRORLEVEL%"=="0" goto mainEnd
+
+:fail
+rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of
+rem the _cmd.exe /c_ return code!
+if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1
+exit /b 1
+
+:mainEnd
+if "%OS%"=="Windows_NT" endlocal
+
+:omega
diff --git a/settings.gradle b/settings.gradle
new file mode 100644
index 0000000..81f96ab
--- /dev/null
+++ b/settings.gradle
@@ -0,0 +1,27 @@
+import org.gradle.internal.os.OperatingSystem
+
+pluginManagement {
+ repositories {
+ mavenLocal()
+ gradlePluginPortal()
+ String frcYear = '2020'
+ File frcHome
+ if (OperatingSystem.current().isWindows()) {
+ String publicFolder = System.getenv('PUBLIC')
+ if (publicFolder == null) {
+ publicFolder = "C:\\Users\\Public"
+ }
+ def homeRoot = new File(publicFolder, "wpilib")
+ frcHome = new File(homeRoot, frcYear)
+ } else {
+ def userFolder = System.getProperty("user.home")
+ def homeRoot = new File(userFolder, "wpilib")
+ frcHome = new File(homeRoot, frcYear)
+ }
+ def frcHomeMaven = new File(frcHome, 'maven')
+ maven {
+ name 'frcHome'
+ url frcHomeMaven
+ }
+ }
+}
diff --git a/src/main/deploy/example.txt b/src/main/deploy/example.txt
new file mode 100644
index 0000000..bb82515
--- /dev/null
+++ b/src/main/deploy/example.txt
@@ -0,0 +1,3 @@
+Files placed in this directory will be deployed to the RoboRIO into the
+'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
+to get a proper path relative to the deploy directory.
\ No newline at end of file
diff --git a/src/main/java/frc/robot/Main.java b/src/main/java/frc/robot/Main.java
new file mode 100644
index 0000000..5b3238a
--- /dev/null
+++ b/src/main/java/frc/robot/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 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 frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all.
+ * Unless you know what you are doing, do not modify this file except to
+ * change the parameter class to the startRobot call.
+ */
+public final class Main {
+ private Main() {
+ }
+
+ /**
+ * Main initialization function. Do not perform any initialization here.
+ *
+ * If you change your main robot class, change the parameter type.
+ */
+ public static void main(String... args) {
+ RobotBase.startRobot(Robot::new);
+ }
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
new file mode 100644
index 0000000..ba963f1
--- /dev/null
+++ b/src/main/java/frc/robot/Robot.java
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* 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 frc.robot;
+
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Spark;
+import edu.wpi.first.wpilibj.TimedRobot;
+// import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * 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.gradle file in the
+ * project.
+ */
+public class Robot extends TimedRobot {
+ // motor definitions
+ Spark leftMotor = new Spark(1);
+ Spark rightMotor = new Spark(0);
+ /*Spark armMotor = new Spark(2);
+ Spark succLeft = new Spark(3);
+ Spark succRight = new Spark(4);*/
+ // drivetrain
+ RobotDrive drive = new RobotDrive(leftMotor, rightMotor);
+
+ // xbox controller
+ Joystick xbox = new Joystick(0);
+
+ @Override
+ public void robotInit() {
+ // fix inverted drive
+ leftMotor.setInverted(true); //I kinda liked it backward :)
+ rightMotor.setInverted(true);
+ /*// invert right intake motor for simplicity
+ succRight.setInverted(true);
+ // initialize camera*/
+ UsbCamera cam = CameraServer.getInstance().startAutomaticCapture();
+ cam.setResolution(160, 120);
+ cam.setFPS(30);
+ }
+
+ @Override
+ public void autonomousInit() {
+ }
+
+ /**
+ * This function is called periodically during autonomous.
+ */
+ @Override
+ public void autonomousPeriodic() {
+ // drive
+ drive.arcadeDrive(xbox.getRawAxis(1)*.75, xbox.getRawAxis(0)*.65);
+ // deprecated drive, implemented by volunteer
+ // drive.arcadeDrive(xbox, 1, xbox, 0, true);
+ // read joystick input, adjust arm accordingly
+ /*double armPower = xbox.getRawAxis(5);
+ armMotor.set(-armPower * 0.6);
+ // intake
+ if (xbox.getRawButton(5)) {
+ succLeft.set(0.8);
+ succRight.set(0.8);
+ } else if (xbox.getRawButton(6)) {
+ succLeft.set(-0.8);
+ succRight.set(-0.8);
+ } else {
+ succLeft.set(0);
+ succRight.set(0);
+ }*/
+ }
+
+ /**
+ * This function is called periodically during operator control.
+ */
+ @Override
+ public void teleopPeriodic() {
+ // drive
+ drive.arcadeDrive(xbox.getRawAxis(1)*.75, xbox.getRawAxis(0)*.65);
+ // deprecated drive, implemented by volunteer
+ // drive.arcadeDrive(xbox, 1, xbox, 0, true);
+ // read joystick input, adjust arm accordingly
+ /*double armPower = xbox.getRawAxis(5);
+ armMotor.set(-armPower * 0.6);*/
+ // intake
+ /*if (xbox.getRawButton(5)) {
+ succLeft.set(1);
+ succRight.set(1);
+ } else if (xbox.getRawButton(6)) {
+ succLeft.set(-1);
+ succRight.set(-1);
+ } else {
+ succLeft.set(0);
+ succRight.set(0);
+ }*/
+ }
+
+ /**
+ * This function is called periodically during test mode.
+ */
+ @Override
+ public void testPeriodic() {
+ }
+}
diff --git a/vendordeps/WPILibOldCommands.json b/vendordeps/WPILibOldCommands.json
new file mode 100644
index 0000000..7bdad21
--- /dev/null
+++ b/vendordeps/WPILibOldCommands.json
@@ -0,0 +1,37 @@
+{
+ "fileName": "WPILibOldCommands.json",
+ "name": "WPILib-Old-Commands",
+ "version": "2020.0.0",
+ "uuid": "b066afc2-5c18-43c4-b758-43381fcb275e",
+ "mavenUrls": [],
+ "jsonUrl": "",
+ "javaDependencies": [
+ {
+ "groupId": "edu.wpi.first.wpilibOldCommands",
+ "artifactId": "wpilibOldCommands-java",
+ "version": "wpilib"
+ }
+ ],
+ "jniDependencies": [],
+ "cppDependencies": [
+ {
+ "groupId": "edu.wpi.first.wpilibOldCommands",
+ "artifactId": "wpilibOldCommands-cpp",
+ "version": "wpilib",
+ "libName": "wpilibOldCommands",
+ "headerClassifier": "headers",
+ "sourcesClassifier": "sources",
+ "sharedLibrary": true,
+ "skipInvalidPlatforms": true,
+ "binaryPlatforms": [
+ "linuxathena",
+ "linuxraspbian",
+ "linuxaarch64bionic",
+ "windowsx86-64",
+ "windowsx86",
+ "linuxx86-64",
+ "osxx86-64"
+ ]
+ }
+ ]
+}