More stuff

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -102,7 +102,7 @@ public class OI
 			stow.whenPressed(new StowArm());
 
 			SmartDashboard.putData("switch to manuel", new SetManual());
-			SmartDashboard.putData("run arm test", new ArmTest());
+//			SmartDashboard.putData("run turn test", new TestTurn());
 			SmartDashboard.putData("grab from station", new GrabFromLoadingSatation());
 			SmartDashboard.putData("wrist test", new wristTest());
 

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/DriveTurnBasic.java

@@ -69,10 +69,10 @@ public class DriveTurnBasic extends Command
 			} else {
 				Robot.drive.rawDriveLeftRight(output, output);		// left forward, right backward
 			}
-//			for (CANTalonEncoder motorController : motorControllers) {
-//				//motorController.set(output);
-//				motorController.set(ControlMode.PercentOutput, output);
-//			}
+			//for (CANTalonEncoder motorController : motorControllers) {
+				//motorController.set(output);
+			//	motorController.set(ControlMode.PercentOutput, output);
+			//}
 		}
 		else if (m_turnType == MPSoftwareTurnType.LEFT_SIDE_ONLY) {
 			Robot.drive.rawDriveLeftRight(2.0 * output, 0.0);		// left forward double speed

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/StowArm.java

@@ -16,8 +16,8 @@ public class StowArm extends CommandGroup {
   public StowArm() {
     addSequential(new HatchFlip(false));
     addParallel(new WristPlacement(true));
-    addParallel(new WristSetPositionPID(200), 2);
-    addSequential(new ArmSetPositionMM(50));
+    addParallel(new WristSetPositionPID(250), 2);
+    addSequential(new ArmSetPositionMM(10), 4);
     // Add Commands here:
     // e.g. addSequential(new Command1());
     // addSequential(new Command2());

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/TestTurn.java

@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* 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 org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+public class TestTurn extends CommandGroup {
+  /**
+   * Add your docs here.
+   */
+  public TestTurn() {
+    addSequential(new DriveTurnBasic (true, 90, 100, MPSoftwareTurnType.TANK));
+    // Add Commands here:
+    // e.g. addSequential(new Command1());
+    // addSequential(new Command2());
+    // these will run in order.
+
+    // To run multiple commands at the same time,
+    // use addParallel()
+    // e.g. addParallel(new Command1());
+    // addSequential(new Command2());
+    // Command1 and Command2 will run in parallel.
+
+    // A command group will require all of the subsystems that each member
+    // would require.
+    // e.g. if Command1 requires chassis, and Command2 requires arm,
+    // a CommandGroup containing them would require both the chassis and the
+    // arm.
+  }
+}

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java

@@ -111,7 +111,7 @@ public class Arm extends Subsystem implements ControlLoopable
 	// Misc
 	public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;	
 	private boolean isFinished;
-	private ArmControlMode armControlMode = ArmControlMode.JOYSTICK_MANUAL;
+	private ArmControlMode armControlMode = ArmControlMode.MOTION_MAGIC;
 	private double targetPositionInchesPID = 0;
 	private double targetPositionInchesMM = 0;
 	private boolean firstMpPoint;

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java

@@ -61,7 +61,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  */
 public class Drive extends Subsystem implements ControlLoopable
 {
-	public static enum DriveControlMode { JOYSTICK, MP_STRAIGHT, MP_TURN, PID_TURN, HOLD, MANUAL, CLIMB, MP_PATH, MP_PATH_VELOCITY, MOTION_MAGIC, ADAPTIVE_PURSUIT, MOVE_POSITION_MAX_SCALE, MOVE_POSITION_LOW_SCALE, MOVE_POSITION_SWITCH, MOVE_POSITION_LOWEST, STOP_MOTORS, RAW};
+	public static enum DriveControlMode { JOYSTICK, MP_STRAIGHT, MP_TURN, PID_TURN, HOLD, MANUAL, CLIMB, MP_PATH, MP_PATH_VELOCITY, MOTION_MAGIC, ADAPTIVE_PURSUIT, STOP_MOTORS, RAW};
 	public static enum SpeedShiftState { HI, LO };
 	public static enum ClimberState { DEPLOYED, RETRACTED };
 

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Wrist.java

@@ -98,7 +98,7 @@ public class Wrist extends Subsystem implements ControlLoopable
 	// Misc
 	public static final double AUTO_ZERO_MOTOR_CURRENT = 4.0;	
 	private boolean isFinished;
-	private WristControlMode wristControlMode = WristControlMode.JOYSTICK_MANUAL;
+	private WristControlMode wristControlMode = WristControlMode.JOYSTICK_PID;
 	private double targetPositionInchesPID = 0;
 	private boolean firstMpPoint;
 	private double joystickInchesPerMs = JOYSTICK_INCHES_PER_MS_LO;