Created Wrist Subsystem

Created the wrist subsystem, commented out compile pathfinder in build.gradle. Edited Robot Map by changing carriage to wrist motors

2019robot/build.gradle

@@ -50,7 +50,7 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
-    compile pathfinder()
+    //compile pathfinder()
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

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

@@ -37,7 +37,8 @@ public class Robot extends IterativeRobot
 
 
     public static final Climber climber = new Climber();
-    public static final Pnumatics pnumatics = new Pnumatics();
+	public static final Pnumatics pnumatics = new Pnumatics();
+	public static final Wrist wrist = new Wrist();
 	public static final long periodMS = 10;
 	public static final ControlLooper controlLoop = new ControlLooper("Main control loop", periodMS);
 

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

@@ -18,8 +18,8 @@ public class RobotMap {
 	public static final int DRIVETRAIN_RIGHT_MOTOR2_CAN_ID = 5;
 	
 	//carriage motors
-	public static final int CARRIAGE_LEFT_MOTOR_CAN_ID = 8;
+	public static final int WRIST_LEFT_MOTOR_CAN_ID = 8;
-	public static final int CARRIAGE_RIGHT_MOTOR_CAN_ID = 9;
+	public static final int WRITST_RIGHT_MOTOR_CAN_ID = 9;
 	  
 	//Elevator Motors
 	public static final int ELEVATOR_MOTOR1_ID = 6;

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

@@ -0,0 +1,54 @@
+package org.usfirst.frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+import org.usfirst.frc4388.controller.XboxController;
+import org.usfirst.frc4388.robot.Constants;
+import org.usfirst.frc4388.robot.Robot;
+import org.usfirst.frc4388.robot.RobotMap;
+import org.usfirst.frc4388.robot.commands.*;
+import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;
+import org.usfirst.frc4388.utility.CANTalonEncoder;
+import org.usfirst.frc4388.utility.ControlLoopable;
+import org.usfirst.frc4388.utility.PIDParams;
+import org.usfirst.frc4388.utility.SoftwarePIDPositionController;
+
+import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
+import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.SensorCollection;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+/**
+ * Add your docs here.
+ */
+public class Wrist extends Subsystem
+{
+  //PID encoder and motor
+	private CANTalonEncoder wristRight;
+  private WPI_TalonSRX wristLeft;
+
+  //Encoder ticks to inches for encoders
+	public static final double ENCODER_TICKS_TO_INCHES = Constants.kElevatorEncoderTicksPerInch;
+  
+  public Wrist()
+  {
+    try
+    {
+      //PID wrist encoder and talon
+			wristRight = new CANTalonEncoder(RobotMap.WRIST_LEFT_MOTOR_CAN_ID, ENCODER_TICKS_TO_INCHES, FeedbackDevice.QuadEncoder);
+			wristLeft = new WPI_TalonSRX(RobotMap.WRITST_RIGHT_MOTOR_CAN_ID);
+    }
+    catch(Exception e)
+    {
+      System.err.println("You thought the code would work, but it was me, error. An error occurred in the Wrist Construtor");
+    }
+  }
+
+  @Override
+  public void initDefaultCommand() 
+  {
+  }
+}