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Constants.java

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+/*
+  ___  __   __ _  ____  ____  __   __ _  ____  ____ 
+ / __)/  \ (  ( \/ ___)(_  _)/ _\ (  ( \(_  _)/ ___)
+( (__(  O )/    /\___ \  )( /    \/    /  )(  \___ \
+ \___)\__/ \_)__)(____/ (__)\_/\_/\_)__) (__) (____/
+ */
+package frc.robot;
+
+import edu.wpi.first.wpilibj.Joystick;
+
+public class Constants {
+	public static Joystick leftDriveStick = new Joystick(0);
+	public static Joystick rightDriveStick = new Joystick(1);
+
+	final static public int driveSpeed = 1;
+	final static public int shooterMode = 0; // mode 0: low shooter | mode 1: high shooter
+
+	final static public double intakeSpeed = 1;
+
+	final static public double deadzone = 0.3;
+
+}

Main.java

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+/*
+_  _   __   __  __ _ 
+( \/ ) / _\ (  )(  ( \
+/ \/ \/    \ )( /    /
+\_)(_/\_/\_/(__)\_)__)
+*/
+
+package frc.robot;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+public final class Main {
+	private Main() {
+	}
+
+	public static void main(String... args) {
+		RobotBase.startRobot(Robot::new);
+	}
+}

Robot.java

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+/* ____   __  ____   __  ____ 
+(  _ \ /  \(  _ \ /  \(_  _)
+ )   /(  O )) _ ((  O ) )(  
+(__\_) \__/(____/ \__/ (__) 
+*/
+
+package frc.robot;
+
+import frc.robot.OI;
+// import frc.robot.commands.TankDrive;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.Limelight;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+
+public class Robot extends TimedRobot {
+  private Command m_autonomousCommand;
+  private RobotContainer m_robotContainer;
+
+
+  @Override
+  public void robotInit() {
+    OI oi = new OI();
+    m_robotContainer = new RobotContainer();
+
+  }
+
+
+  @Override
+  public void robotPeriodic() {
+    CommandScheduler.getInstance().run();
+  }
+
+
+  @Override
+  public void disabledInit() {
+  }
+
+  @Override
+  public void disabledPeriodic() {
+  }
+
+
+  @Override
+  public void autonomousInit() {
+    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+
+    // schedule the autonomous command (example)
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.schedule();
+    }
+  }
+
+
+  @Override
+  public void autonomousPeriodic() {
+  }
+
+  @Override
+  public void teleopInit() {
+    SmartDashboard.putBoolean("Drive Mode", true);
+
+
+    if (m_autonomousCommand != null) {
+      m_autonomousCommand.cancel(); 
+    }
+  }
+
+  @Override
+  public void teleopPeriodic() {
+
+  }
+
+  @Override
+  public void testInit() {
+    CommandScheduler.getInstance().cancelAll();
+  }
+
+
+  @Override
+  public void testPeriodic() {
+  }
+}
+

RobotContainer.java

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+/*
+ ____   __  ____   __  ____     ___  __   __ _  ____  __   __  __ _  ____  ____ 
+(  _ \ /  \(  _ \ /  \(_  _)   / __)/  \ (  ( \(_  _)/ _\ (  )(  ( \(  __)(  _ \
+ )   /(  O )) _ ((  O ) )(    ( (__(  O )/    /  )( /    \ )( /    / ) _)  )   /
+(__\_) \__/(____/ \__/ (__)    \___)\__/ \_)__) (__)\_/\_/(__)\_)__)(____)(__\_)*/
+package frc.robot;
+
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.XboxController;
+import frc.robot.commands.*;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.*;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj.GenericHID;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.button.*;
+
+public class RobotContainer {
+	/*
+	 * OI
+	 */
+
+	public static Joystick rightJoy = new Joystick(0);
+	public static Joystick leftJoy = new Joystick(1);
+
+	/*
+	 * Subsystems
+	 */
+
+	// public final static ShooterSubsystem m_ShooterSubsystem = new
+	// ShooterSubsystem();
+	public final static Limelight m_limelight = new Limelight("limelight");
+	// public final static IntakeSubsystem m_IntakeSubsystem = new
+	// IntakeSubsystem();
+	public final static DriveSubsystem m_driveSubsystem = new DriveSubsystem();
+	public final static DriveSubsystem m_driveSubsystemPID = new DrivePID();
+
+	/*
+	 * Commands
+	 */
+
+	// private final AutoCommand m_autoCommand = new AutoCommand();
+
+	public RobotContainer() {
+		configureButtonBindings();
+		m_driveSubsystem.setDefaultCommand(new TankDrivePID());
+	}
+
+	public static Joystick getRightJoy() {
+		return rightJoy;
+	}
+
+	public static Joystick getLeftJoy() {
+		return leftJoy;
+	}
+
+	private void configureButtonBindings() {
+		GenericHID operatorGamepad = new Joystick(RobotMap.operatorGamepad);
+		Button shootButton = new JoystickButton(operatorGamepad, RobotMap.shootButton);
+		Button shooterUp = new JoystickButton(operatorGamepad, 1);
+		Button shooterDown = new JoystickButton(operatorGamepad, 2);
+		Button aimBot = new JoystickButton(operatorGamepad, 3);
+		Button rotatePanelButton = new JoystickButton(operatorGamepad, 5);
+		Button openIntake = new JoystickButton(operatorGamepad, 6);
+		Button closeIntake = new JoystickButton(operatorGamepad, 7);
+
+		// public GenericHID getRightJoystick(){ return operatorGamepad; }
+		// public double readRightForwardAxis() { return rightJoystick.getY();}
+
+	}
+
+	public Command getAutonomousCommand() {
+		return null;
+	}
+}

RobotMap.java

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+/* ____   __  ____   __  ____  _  _   __   ____ 
+(  _ \ /  \(  _ \ /  \(_  _)( \/ ) / _\ (  _ \
+ )   /(  O )) _ ((  O ) )(  / \/ \/    \ ) __/
+(__\_) \__/(____/ \__/ (__) \_)(_/\_/\_/(__)  */
+
+package frc.robot;
+
+public class RobotMap {
+	public static int driverGamepad = 0;
+	public static int operatorGamepad = 2;
+	public static int leftStick = 0;
+	public static int rightStick = 0;
+	public static int shootButton = 7;
+	public static int intakeMotor = 0;
+	public static int shooterAngleMotor = 10;
+	public static int topMotor = 11;
+	public static int bottomMotor = 12;
+
+	public static class activatorSolenoid {
+		public static int forwardChannel = 0;
+		public static int reverseChannel = 0;
+	}
+
+	public static final int BALL_INTAKE_MOTOR = 7;
+	public static final int SOLENOID1_FORWARD_CHANNEL = 4;
+	public static final int SOLENOID1_REVERSE_CHANNEL = 5;
+	public static final int SOLENOID2_FORWARD_CHANNEL = 6;
+	public static final int SOLENOID2_REVERSE_CHANNEL = 7;
+}

commands/Aimbot.java

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+/*
+  __   __  _  _  ____   __  ____ 
+ / _\ (  )( \/ )(  _ \ /  \(_  _)
+/    \ )( / \/ \ ) _ ((  O ) )(  
+\_/\_/(__)\_)(_/(____/ \__/ (__) */
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.RobotContainer;
+
+public class Aimbot extends CommandBase {
+
+	public Aimbot() {
+		SmartDashboard.putNumber("constructed aimbot ", 1);
+		addRequirements(RobotContainer.m_limelight);
+		addRequirements(RobotContainer.m_driveSubsystem);
+
+	}
+
+	@Override
+	public void initialize() {
+		SmartDashboard.putNumber("Running Limelight - init", 1);
+		RobotContainer.m_limelight.setLED("on");
+		// RobotContainer.m_limelight.driverOnlyMode(false);
+
+	}
+
+	@Override
+	public void execute() {
+		// PID VALUES (MUST BE TUNED)
+		final double kPx = -.02f;
+		final double kPy = -.1f;
+		// minimum value to actually make the robot turn (at smaller values it may not
+		// turn due to friction)
+		final double min_aim_command = .16f;
+
+		// if a target is locked
+		if (RobotContainer.m_limelight.hasTarget()) {
+			SmartDashboard.putNumber("LIMELIGHT DISTANCE", RobotContainer.m_limelight.getDistance());
+			// grab data and add to smart dashboard
+			SmartDashboard.putBoolean("Limelight Target", true);
+			double tx = RobotContainer.m_limelight.getHorizontalOffset();
+			SmartDashboard.putNumber("Horizontal Offset", tx);
+			double ty = RobotContainer.m_limelight.getVerticalOffset();
+			SmartDashboard.putNumber("Vertical Offset", ty);
+			double distance = RobotContainer.m_limelight.getDistance();
+			SmartDashboard.putNumber("Limelight Distance", distance);
+
+			double x_adjust;
+			// on large angles, ignore the minimum aim value, on smaller angles add it to
+			// make sure the robot moves
+			if (Math.abs(tx) > 10.0) {
+				SmartDashboard.putNumber("applying x adjust", 0);
+				x_adjust = kPx * -tx;
+			} else {
+				SmartDashboard.putNumber("applying x adjust", 1);
+				if (kPx * -tx > 0) {
+					x_adjust = kPx * -tx + min_aim_command;
+				} else {
+					x_adjust = kPx * -tx - min_aim_command;
+				}
+			}
+			if (Math.abs(tx) < 1) {
+				x_adjust = 0;
+				SmartDashboard.putNumber("on target?", 1);
+			}
+			double y_adjust = kPy * -ty;
+			// double y_adjust = 0;
+			SmartDashboard.putNumber("Pivot Adjust Val", x_adjust);
+			SmartDashboard.putNumber("Drive Adjust Val", y_adjust);
+
+			// drive the robot based on these motor values
+			RobotContainer.m_driveSubsystem.drive(x_adjust + y_adjust, -(x_adjust - y_adjust));
+			// RobotContainer.m_driveSubsystem.drive(0,min_aim_command);
+
+		} else {
+			SmartDashboard.putBoolean("Limelight Target", false);
+		}
+
+	}
+
+	@Override
+	public boolean isFinished() {
+		// RobotContainer.m_limelight.setLED("off");
+		// RobotContainer.m_limelight.driverOnlyMode(true);
+		return true;
+	}
+}

commands/TankDrive.java

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+/*
+__  __   __ _  __ _  ____  ____  __  _  _  ____ 
+(_  _)/ _\ (  ( \(  / )(    \(  _ \(  )/ )( \(  __)
+  )( /    \/    / )  (  ) D ( )   / )( \ \/ / ) _) 
+ (__)\_/\_/\_)__)(__\_)(____/(__\_)(__) \__/ (____)
+ */
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.Constants;
+import frc.robot.RobotContainer;
+
+public class TankDrive extends CommandBase {
+
+  public TankDrive() {
+    addRequirements(RobotContainer.m_driveSubsystem);
+  }
+
+  @Override
+  public void initialize() {
+  }
+
+  @Override
+  public void execute() {
+    RobotContainer.m_driveSubsystem.drive(RobotContainer.getLeftJoy().getY(), RobotContainer.getRightJoy().getY());
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}