update from denver

hope this works
(mostly atos fixed, centers and laft un tested)

src/org/usfirst/frc4388/robot/Robot.java

@@ -1,18 +1,6 @@
 
-// RobotBuilder Version: 2.0
-//
-// This file was generated by RobotBuilder. It contains sections of
-// code that are automatically generated and assigned by robotbuilder.
-// These sections will be updated in the future when you export to
-// Java from RobotBuilder. Do not put any code or make any change in
-// the blocks indicating autogenerated code or it will be lost on an
-// update. Deleting the comments indicating the section will prevent
-// it from being updated in the future.
-
-
 package org.usfirst.frc4388.robot;
 
-//import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -35,13 +23,7 @@ import org.usfirst.frc4388.robot.subsystems.Drive;
 import org.usfirst.frc4388.robot.subsystems.Carriage;
 import org.usfirst.frc4388.robot.subsystems.LED;
 import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;;
-/**
- * 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.properties file in 
- * the project.
- */
+
 public class Robot extends IterativeRobot 
 {
 
@@ -49,7 +31,7 @@ public class Robot extends IterativeRobot
 	
 	public static final Drive drive = new Drive();
 
-	//public static final Elevator elevator = new Elevator();
+
     public static final Carriage carriage = new Carriage();
     public static final Elevator elevator = new Elevator();
     
@@ -58,15 +40,8 @@ public class Robot extends IterativeRobot
 
     public static final Climber climber = new Climber();
     public static final Pnumatics pnumatics = new Pnumatics();
-    //public static FlashyBlinky flashyBlinky;
-    //public static Sensors sensors;
-
 	public static final long periodMS = 10;
 	public static final ControlLooper controlLoop = new ControlLooper("Main control loop", periodMS);
-	//public static final PowerDistributionPanel pdp = new PowerDistributionPanel();
-
-	//public static final String ElevatorAuton = null;
-
 
 	public static enum OperationMode { TEST, COMPETITION };
 	public static OperationMode operationMode = OperationMode.TEST;
@@ -82,33 +57,20 @@ public class Robot extends IterativeRobot
     private Command LRautonomousCommand;
     private Command LLautonomousCommand;
     
-    /**
-     * This function is run when the robot is first started up and should be
-     * used for any initialization code.
-     */
     public void robotInit() 
     {
     	//Printing game data to riolog
     	String gameData = DriverStation.getInstance().getGameSpecificMessage();
     	System.out.println(gameData);
     	CameraServer.getInstance().startAutomaticCapture();
-    	CameraServer.getInstance().putVideo("res", 640, 480);
+    	CameraServer.getInstance().putVideo("res", 300, 220);
     	
       try {
-    	//drive = new Drive();
-    	//controlLoop = new ControlLooper("Main control loop", periodMS);
 		oi = OI.getInstance();
-		//camera.initialize();
 		
     	controlLoop.addLoopable(drive);
     	controlLoop.addLoopable(elevator);
-  
-//		Waypoint[] points = new Waypoint[] {
-//                new Waypoint(0, 0, 0),
-//                new Waypoint(-95, -9, Pathfinder.d2r(-27))
-//        };
-//
-//        PathGenerator boilerPath = new PathGenerator(points, 0.01, 120, 200.0, 700.0);			
+			
 
         operationModeChooser = new SendableChooser<OperationMode>();
 	    operationModeChooser.addDefault("Test", OperationMode.TEST);
@@ -200,11 +162,6 @@ public class Robot extends IterativeRobot
       }
     }
 	
-	/**
-     * This function is called once each time the robot enters Disabled mode.
-     * You can use it to reset any subsystem information you want to clear when
-	 * the robot is disabled.
-     */
     public void disabledInit(){
 
     }
@@ -214,23 +171,12 @@ public class Robot extends IterativeRobot
 		updateStatus();
 	}
 
-	/**
-	 * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
-	 * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
-	 * Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
-	 * below the Gyro
-	 *
-	 * You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
-	 * or additional comparisons to the switch structure below with additional strings & commands.
-	 */
     public void autonomousInit() {    	
     	updateChoosers();
     	
-        // Schedule the autonomous command (example)
     	controlLoop.start();
     	drive.endGyroCalibration();
     	drive.resetEncoders();
-    	//elevator.resetElevatorEncoder();
     	drive.resetGyro();
     	drive.setIsRed(getAlliance().equals(Alliance.Red));
         
@@ -265,46 +211,30 @@ public class Robot extends IterativeRobot
     
     public void autonomousPeriodic() {
         Scheduler.getInstance().run();
-        //Robot.elevator.setControlMode(DriveControlMode.RAW);
 		updateStatus();
     }
 
     public void teleopInit() {
-		// This makes sure that the autonomous stops running when
-        // teleop starts running. If you want the autonomous to 
-        // continue until interrupted by another command, remove
-        // this line or comment it out.
         if (RRautonomousCommand != null) RRautonomousCommand.cancel();
         if (RLautonomousCommand != null) RLautonomousCommand.cancel();
         if (LRautonomousCommand != null) LRautonomousCommand.cancel();
         if (LLautonomousCommand != null) LLautonomousCommand.cancel();
-        drive.setToBrakeOnNeutral(false);	// coast to avoid tipping when driver stops suddenly
-        //MotionProfileCache.getInstance().release();
+        drive.setToBrakeOnNeutral(false);	
     	updateChoosers();
         controlLoop.start();
     	drive.resetEncoders();
     	drive.endGyroCalibration();
-    	//shooter.setStage1Speed(0);
-    	//shooter.setStage2Speed(0);
-    	//shooterFeed.setSpeed(0);
-    	//zarkerFeed.setSpeed(0);
-    	//shooter.setHopperPosition(HopperState.CLOSE);
-    	//Robot.elevator.setControlMode(DriveControlMode.JOYSTICK);
+
         updateStatus();
     }
 
-    /**
-     * This function is called periodically during operator control
-     */
+
     public void teleopPeriodic() 
     {
         Scheduler.getInstance().run();
 		updateStatus();
     }
     
-    /**
-     * This function is called periodically during test mode
-     */
     public void testPeriodic() {
         LiveWindow.run();
 		updateStatus();
@@ -325,11 +255,7 @@ public class Robot extends IterativeRobot
     public void updateStatus() {
     	drive.updateStatus(operationMode);
     	elevator.updateStatus(operationMode);
-    	//carriage.updateStatus(operationMode);
-    	//shooter.updateStatus(operationMode);
-    	//shooterFeed.updateStatus(operationMode);
-    	//zarkerFeed.updateStatus(operationMode);
-    	//camera.updateStatus(operationMode);
+
    }
 
 }