Romi rohan

src/main/java/com/github/mittyrobotics/DriveTrainSubsystem.java

@@ -0,0 +1,4 @@
+package com.github.mittyrobotics;
+
+public class DriveTrainSubsystem {
+}

src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java

@@ -0,0 +1,8 @@
+package com.github.mittyrobotics;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class DriveTrainSubsytem extends SubsystemBase {
+    public static DriveTrainSubsystem instance = null;
+
+}

src/main/java/com/github/mittyrobotics/OI.java

@@ -0,0 +1,31 @@
+package com.github.mittyrobotics;
+
+import edu.wpi.first.wpilibj.XboxController;
+//import edu.wpi.first.wpilibj.XboxController;
+
+public class OI {
+
+
+    private static OI instance;
+
+    private edu.wpi.first.wpilibj.XboxController XboxController;
+
+    public static OI getInstance() {
+        if (instance == null) {
+            instance = new OI();
+        }
+        return instance;
+
+    }
+
+    public XboxController getXox  edu.wpi.first.wpilibj.XboxController getXboxController() {
+        if (XboxController == null) {
+            XboxController = new XboxController(0);
+
+        }
+        return XboxController;
+
+    }
+
+
+}

src/main/java/com/github/mittyrobotics/Robot.java

@@ -1,10 +1,12 @@
 package com.github.mittyrobotics;
 
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
+import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+
+import static com.github.mittyrobotics.Constants.*;
 
 
 //Java automatically runs this class, and calls the various functions.
@@ -18,24 +20,31 @@ public class Robot extends TimedRobot {
      *  INITIALIZE CLASSES HERE
      */
 
+    TrapezoidProfile.State start;
+    TrapezoidProfile.State end;
+    TrapezoidProfile.Constraints constraints;
+    TrapezoidProfile profile;
+    TrapezoidProfile.State profileOutput;
+    Talon falcon = new Talon(0);
 
+    PIDController controller;
+    Encoder encoder;
+    double t;
 
-    @Override
-    public void robotInit() {
 
 
-    }
-
-    //Runs periodically during teleoperated mode
-    /*
-     *  WRITE YOUR DRIVE CODE HERE
-     */
-    @Override
-    public void teleopPeriodic() {
+        @Override
+    public void robotInit() {
+        start = new TrapezoidProfile.State(0, 0);
+        TrapezoidProfile.State end = new TrapezoidProfile.State(5.0, 0);
+        TrapezoidProfile.Constraints constraints = new TrapezoidProfile.Constraints(2, 0.2);
+        TrapezoidProfile profile = new TrapezoidProfile(constraints, end, start);
+        TrapezoidProfile.State profileOutput = profile.calculate(0.2);
+        double kp = 1.0, ki = 2.0, kd = 3.0;
+        controller = new PIDController(kp, ki, kd);
 
     }
-
-    //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
+        //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
     @Override
     public void autonomousInit() {
 
@@ -44,7 +53,7 @@ public void autonomousInit() {
     //Runs when teleoperated mode (robot controlled by driver) is first activated
     @Override
     public void teleopInit() {
-
+        t = 0;
     }
 
     //Runs when test mode is activated
@@ -70,4 +79,14 @@ public void autonomousPeriodic() {
     public void testPeriodic() {
 
     }
-}
+
+    @Override
+    public void teleopPeriodic() {
+        encoder = new Encoder(Constants.ENCODER_IDS[0], Constants.ENCODER_IDS[1]);
+        TrapezoidProfile.State setpoint = profile.calculate(t);
+        controller.setSetpoint(setpoint.velocity);
+        controller.calculate(encoder.getRate());
+        t += 0.02;
+    }
+}
+

src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java

@@ -0,0 +1,26 @@
+package com.github.mittyrobotics.TankDriveCommand;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class TankDriveCommand extends CommandBase {
+
+    public void initialize() {
+
+    }
+
+    @Override
+    public void execute() {
+
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+
+    }
+
+    @Override
+    public boolean isFinished() {
+
+    }
+
+}