Merge branch 'master' into autoRevert

src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionMM.java

@@ -33,9 +33,9 @@ public class DriveStraightToPositionMM extends CommandBase {
     m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
       } else {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
       }
     } catch (Exception e) {
       System.err.println("Error In Motion Magic Switch Gains.");

src/main/java/frc4388/robot/commands/drive/DriveStraightToPositionPID.java

@@ -31,9 +31,9 @@ public class DriveStraightToPositionPID extends CommandBase {
     m_pneumatics = subsystem2;
     try {
       if (m_pneumatics.m_isSpeedShiftHigh) {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH;
       } else {
-        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW * 2;
+        m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_LOW;
       }
     } catch (Exception e) {
       System.err.println("Error In Motion Magic Switch Gains.");

src/main/java/frc4388/robot/commands/drive/DriveWithJoystick.java

@@ -94,7 +94,7 @@ public class DriveWithJoystick extends CommandBase {
     } 
   */
     
-    m_drive.driveWithInput(moveOutput, steerOutput);
+    m_drive.driveWithInput(-moveOutput, steerOutput);
   }
 
   // Called once the command ends or is interrupted.

src/main/java/frc4388/robot/commands/drive/PlaySongDrive.java

@@ -9,6 +9,7 @@ package frc4388.robot.commands.drive;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Shooter;
 
 public class PlaySongDrive extends CommandBase {
   private Drive m_drive;
@@ -16,10 +17,10 @@ public class PlaySongDrive extends CommandBase {
   /**
    * Creates a new PlaySongDrive.
    */
-  public PlaySongDrive(Drive subsystem) {
+  public PlaySongDrive(Drive subsystem, Shooter shooter) {
     // Use addRequirements() here to declare subsystem dependencies.
     m_drive = subsystem;
-    addRequirements(m_drive);
+    addRequirements(m_drive, shooter);
   }
 
   // Called when the command is initially scheduled.

src/main/java/frc4388/robot/commands/drive/SkipSong.java

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 frc4388.robot.commands.drive;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class SkipSong extends CommandBase {
+  Drive m_drive;
+  int m_index;
+  
+  /**
+   * Creates a new SkipSong.
+   */
+  public SkipSong(Drive m_robotDrive, int index) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = m_robotDrive;
+    m_index = index;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    String[] songs = m_drive.songsStrings;
+    String song = m_drive.m_currentSong;
+
+    for (int i = 0; i < songs.length; i++) {
+      if (songs[i] == song) {
+        m_drive.selectSong(songs[i + m_index]);
+        break;
+      }
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}