Added buttons and stuff for delrin pilot practice

Config2016/src/Config.java

@@ -232,7 +232,7 @@ private void initConfig()
 				addToVariables("chassis_TankDrive_DeadBand", 0.05);
 
 				addToVariables("chassis_TankDrive_InvertX", false);
-				addToVariables("chassis_TankDrive_InvertY", true);
+				addToVariables("chassis_TankDrive_InvertY", false);
 			}
 
 		}

Robot Code/src/org/usfirst/frc/team3316/robot/commands/intake/ToggleIntake.java

@@ -0,0 +1,49 @@
+package org.usfirst.frc.team3316.robot.commands.intake;
+
+import org.usfirst.frc.team3316.robot.commands.DBugCommand;
+
+public class ToggleIntake extends DBugCommand
+{
+	private static boolean set = true;
+
+	private static DBugCommand close, open;
+
+	static
+	{
+		close = new CloseIntake();
+		open = new OpenIntake();
+	}
+
+	protected void init()
+	{
+
+	}
+
+	protected void execute()
+	{
+		if (set)
+		{
+			open.start();
+		}
+		else
+		{
+			close.start();
+		}
+
+		set = !set;
+	}
+
+	protected boolean isFinished()
+	{
+		return true;
+	}
+
+	protected void fin()
+	{
+
+	}
+
+	protected void interr()
+	{
+	}
+}

Robot Code/src/org/usfirst/frc/team3316/robot/humanIO/Joysticks.java

@@ -4,12 +4,16 @@
 package org.usfirst.frc.team3316.robot.humanIO;
 
 import org.usfirst.frc.team3316.robot.Robot;
+import org.usfirst.frc.team3316.robot.commands.intake.RollIn;
+import org.usfirst.frc.team3316.robot.commands.intake.RollOut;
+import org.usfirst.frc.team3316.robot.commands.intake.ToggleIntake;
 import org.usfirst.frc.team3316.robot.config.Config;
 import org.usfirst.frc.team3316.robot.config.Config.ConfigException;
 import org.usfirst.frc.team3316.robot.logger.DBugLogger;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class Joysticks
 {
@@ -59,7 +63,13 @@ public Joysticks()
 	 */
 	public void initButtons()
 	{
-		// TODO: We can start configuring buttons for driver commands (will be
-		// useful for testing code when we will need it)
+		JoystickButton btn2 = new JoystickButton(joystickOperator, 2);
+		JoystickButton btn3 = new JoystickButton(joystickOperator, 3);
+
+		btn2.whileHeld(new RollIn());
+		btn3.whileHeld(new RollOut());
+
+		JoystickButton intakeButton = new JoystickButton(joystickOperator, 1);
+		intakeButton.whenPressed(new ToggleIntake());
 	}
 }

Robot Code/src/org/usfirst/frc/team3316/robot/humanIO/SDB.java

@@ -145,6 +145,8 @@ private void initSDB ()
 		putConfigVariableInSDB("intake_RollIn_Speed");
 		putConfigVariableInSDB("intake_RollOut_Speed");
 
+		putConfigVariableInSDB("chassis_TankDrive_InvertY");
+
 		/*
 		 * For testing
 		 */

Robot Code/src/org/usfirst/frc/team3316/robot/subsystems/Chassis.java

@@ -12,15 +12,16 @@
 
 import edu.wpi.first.wpilibj.*;
 
-public class Chassis extends DBugSubsystemCC
+public class Chassis extends DBugSubsystem
 {
-
 	// Actuators
 	private DBugSpeedController leftMotor1, rightMotor2, leftMotor2,
 			rightMotor1;
 
 	// Sensors
 	private AHRS navx; // For the navX
+	private Encoder leftEncoder;
+	private Encoder rightEncoder;
 
 	// Variables
 	private boolean isOnDefense = false; // For the navX
@@ -44,14 +45,6 @@ public Chassis()
 		leftMotor2 = Robot.actuators.leftChassis2;
 		rightMotor1 = Robot.actuators.rightChassis1;
 
-		addSpeedController(leftMotor1);
-		addSpeedController(leftMotor2);
-		addSpeedController(rightMotor1);
-		addSpeedController(rightMotor2);
-
-		// Sensors
-		navx = Robot.sensors.navx;
-
 		// Create moving average
 		movingAvg = new MovingAverage(
 				(int) config.get("CHASSIS_ANGLE_MOVING_AVG_SIZE"), 20, () ->
@@ -123,4 +116,25 @@ public double getPitch()
 	{
 		return navx.getRoll();
 	}
+
+	public double getLeftSpeed()
+	{
+		return leftEncoder.getRate(); // Returns the speed in meter per
+										// second units.
+	}
+
+	public double getRightSpeed()
+	{
+		return rightEncoder.getRate(); // Returns the speed in meter per
+										// second units.
+	}
+
+	public double getDistance() {
+		return (rightEncoder.getDistance() + leftEncoder.getDistance()) / 2;
+	}
+
+	public void resetEncoders() {
+		rightEncoder.reset();
+		leftEncoder.reset();
+	}
 }