Finished Climbing Mechanism

src/main/java/frc/robot/OI.java

@@ -26,11 +26,6 @@ public OI() {
   }
 
   private void initDriverControls(Joystick joystick) {
-      Button ClimberGo = new JoystickButton(joystick, ControllerMap.X);
-      Button ClimberStop = new JoystickButton(joystick, ControllerMap.B);
-      ClimberGo.whileHeld(new ClimberGo());
-      ClimberStop.whileHeld(new ClimberStop());
-
       Button CameraSwitch = new JoystickButton(joystick, ControllerMap.BUMPER_LEFT);
       CameraSwitch.whenPressed(new SwitchCamera());
 
@@ -45,17 +40,25 @@ private void initOperatorControls(Joystick joystick) {
       HatchRetrieve.whenReleased(new RumbleDriver(0.5));
       HatchScore.whileHeld(new HatchScore());
 
-      Button CargoUp = new JoystickButton(joystick, ControllerMap.BUMPER_LEFT);
-      Button CargoDown = new JoystickButton(joystick, ControllerMap.BUMPER_RIGHT);
-      Button CargoLevel1 = new JoystickButton(joystick, ControllerMap.Y);
-      CargoUp.whileHeld(new CargoUp());
-      CargoDown.whileHeld(new CargoDown());
-      CargoLevel1.whenPressed(new CargoArmLevel1AndRumble());
+      //Gerard and Iago are taking a long nap :(          
+      // Button CargoUp = new JoystickButton(joystick, ControllerMap.BUMPER_LEFT);
+      // Button CargoDown = new JoystickButton(joystick, ControllerMap.BUMPER_RIGHT);
+      // Button CargoLevel1 = new JoystickButton(joystick, ControllerMap.Y);
+      // CargoUp.whileHeld(new CargoUp());
+      // CargoDown.whileHeld(new CargoDown());
+      // CargoLevel1.whenPressed(new CargoArmLevel1AndRumble());
 
       Button CargoIntake = new JoystickButton(joystick, ControllerMap.LOGO_LEFT);
       Button CargoDeliver = new JoystickButton(joystick, ControllerMap.LOGO_RIGHT);
       CargoIntake.whenPressed(new CargoIntakeAndRumble());
       CargoDeliver.whileHeld(new CargoDeliver());
+
+      Button FrontUp = new JoystickButton(joystick, ControllerMap.BUMPER_LEFT);
+      Button BackUp = new JoystickButton(joystick, ControllerMap.BUMPER_RIGHT);
+      FrontUp.whileHeld(new ClimberFrontUp());
+      FrontUp.whenReleased(new ClimberFrontDown());
+      BackUp.whileHeld(new ClimberBackUp());
+      BackUp.whenReleased(new ClimberBackDown());
   }
 
   //// CREATING BUTTONS

src/main/java/frc/robot/Robot.java

@@ -26,7 +26,8 @@ public class Robot extends TimedRobot {
   public static Tank_Drive kopchassis = new Tank_Drive();
   public static Hatch hatch;
   public static Cargo cargo;
-  public static Climber climber;
+  public static ClimberFront climberF;
+  public static ClimberBack climberB;
   public static Camera camera;
   public static Limelight limelight; 
 
@@ -42,7 +43,8 @@ public class Robot extends TimedRobot {
   public void robotInit(){ 
     preferences = Preferences.getInstance();
       hatch = new Hatch();
-      climber = new Climber();
+      climberF = new ClimberFront();
+      climberB = new ClimberBack();
       cargo = new Cargo();
       camera = new Camera();
       limelight = new Limelight();

src/main/java/frc/robot/commands/ClimberFrontGo.java → src/main/java/frc/robot/commands/ClimberBackDown.java

@@ -10,9 +10,9 @@
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
 
-public class ClimberFrontGo extends Command {
-  public ClimberFrontGo() {
-    requires(Robot.climber);
+public class ClimberBackDown extends Command {
+  public ClimberBackDown() {
+    requires(Robot.climberB);
   }
 
   // Called just before this Command runs the first time
@@ -23,6 +23,7 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    Robot.climberB.backDown();
   }
 
   // Make this return true when this Command no longer needs to run execute()

src/main/java/frc/robot/commands/ClimberBackGo.java → src/main/java/frc/robot/commands/ClimberBackUp.java

@@ -10,9 +10,9 @@
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
 
-public class ClimberBackGo extends Command {
-  public ClimberBackGo() {
-    requires(Robot.climber);
+public class ClimberBackUp extends Command {
+  public ClimberBackUp() {
+    requires(Robot.climberB);
   }
 
   // Called just before this Command runs the first time
@@ -23,6 +23,7 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    Robot.climberB.backUp();
   }
 
   // Make this return true when this Command no longer needs to run execute()

src/main/java/frc/robot/commands/ClimberFrontStop.java → src/main/java/frc/robot/commands/ClimberFrontDown.java

@@ -10,9 +10,9 @@
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
 
-public class ClimberFrontStop extends Command {
-  public ClimberFrontStop() {
-    requires(Robot.climber);
+public class ClimberFrontDown extends Command {
+  public ClimberFrontDown() {
+    requires(Robot.climberF);
   }
 
   // Called just before this Command runs the first time
@@ -23,6 +23,7 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    Robot.climberF.frontDown();
   }
 
   // Make this return true when this Command no longer needs to run execute()

src/main/java/frc/robot/commands/ClimberBackStop.java → src/main/java/frc/robot/commands/ClimberFrontUp.java

@@ -10,9 +10,9 @@
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.Robot;
 
-public class ClimberBackStop extends Command {
-  public ClimberBackStop() {
-    requires(Robot.climber);
+public class ClimberFrontUp extends Command {
+  public ClimberFrontUp() {
+    requires(Robot.climberF);
   }
 
   // Called just before this Command runs the first time
@@ -23,6 +23,7 @@ protected void initialize() {
   // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    Robot.climberF.frontUp();
   }
 
   // Make this return true when this Command no longer needs to run execute()

src/main/java/frc/robot/commands/ClimberReset.java

@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class ClimberReset extends Command {
+  public ClimberReset() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+    requires(Robot.climberF);
+    requires(Robot.climberB);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.climberF.frontDown();
+    Robot.climberB.backDown();
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc/robot/subsystems/ClimberBack.java

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.RobotMap;
+
+/**
+ * Add your docs here.
+ */
+public class ClimberBack extends Subsystem {
+  // Put methods for controlling this subsystem
+  // here. Call these from Commands.
+  Solenoid back = new Solenoid(RobotMap.climberbackSolenoid);
+
+  public void backUp() {
+    back.set(true);
+    SmartDashboard.putBoolean("Climber Back", true);
+  }
+
+  public void backDown() {
+    back.set(false);
+    SmartDashboard.putBoolean("Climber Back", false);
+  }
+
+  @Override
+  public void initDefaultCommand() {
+    // Set the default command for a subsystem here.
+    // setDefaultCommand(new MySpecialCommand());
+  }
+}

src/main/java/frc/robot/subsystems/Climber.java → src/main/java/frc/robot/subsystems/ClimberFront.java

@@ -9,27 +9,29 @@
 
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import frc.robot.RobotMap;
-import frc.robot.commands.ClimberStop;
+import frc.robot.commands.ClimberReset;
 
 /**
  * Add your docs here.
  */
-public class Climber extends Subsystem {
+public class ClimberFront extends Subsystem {
 
   Solenoid front = new Solenoid(RobotMap.climberfrontSolenoid);
-  Solenoid back = new Solenoid(RobotMap.climberbackSolenoid);
 
-  public void pushup() {
+  public void frontUp() {
     front.set(true);
+    SmartDashboard.putBoolean("Climber Front", true);
   }
 
-  public void pushstop() {
+  public void frontDown() {
     front.set(false);
+    SmartDashboard.putBoolean("Climber Front", false);
   }
-
+  
   @Override
   public void initDefaultCommand() {
-    setDefaultCommand(new ClimberStop());
+    setDefaultCommand(new ClimberReset());
   }
 }