Add in LabVIEW drive forward auto example

Java/CommandBased/.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

Java/CommandBased/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>CommandBased</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

Java/jankCenterSwitch/.classpath

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+<?xml version="1.0" encoding="UTF-8"?>
+<classpath>
+	<classpathentry kind="src" path="src"/>
+	<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
+	<classpathentry kind="var" path="networktables" sourcepath="ntcore.sources"/>
+	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
+	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
+	<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
+	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix-sources.jar"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRE_Phoenix.jar"/>
+	<classpathentry kind="output" path="bin"/>
+</classpath>

Java/jankCenterSwitch/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>jankCenterSwitch</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

Java/jankCenterSwitch/bin/.gitignore

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+/org/

Java/jankCenterSwitch/build.properties

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+# Project specific information
+package=org.usfirst.frc.team1665.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

Java/jankCenterSwitch/build.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>

Java/jankCenterSwitch/src/org/usfirst/frc/team1665/robot/Drivetrain.java

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+package org.usfirst.frc.team1665.robot;
+
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.VictorSP;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+public class Drivetrain{
+
+	// Initializing left drivetrain controllers
+		public static VictorSP driveControllerLeft1 = new VictorSP(1);
+		public static VictorSP driveControllerLeft2 = new VictorSP(2);
+		public static SpeedControllerGroup driveControllersLeft = new SpeedControllerGroup(driveControllerLeft1,
+				driveControllerLeft2);
+
+		// Initializing right drivetrain controllers
+		public static VictorSP driveControllerRight1 = new VictorSP(2);
+		public static VictorSP driveControllerRight2 = new VictorSP(3);
+		public static SpeedControllerGroup driveControllersRight = new SpeedControllerGroup(driveControllerRight1,
+				driveControllerRight2);
+
+		// Initializing drivetrain
+		public static DifferentialDrive drivetrain = new DifferentialDrive(driveControllersLeft, driveControllersRight);
+
+
+	public Drivetrain() {
+	}
+
+	//Split stick arcade drive
+	public void drive(double Throttle, double Turn) {
+		drivetrain.arcadeDrive(Throttle,Turn);
+	}
+
+}

Java/jankCenterSwitch/src/org/usfirst/frc/team1665/robot/Robot.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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 org.usfirst.frc.team1665.robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.properties file in the
+ * project.
+ */
+public class Robot extends IterativeRobot {
+	private Drivetrain drivetrain = new Drivetrain();
+
+	/**
+	 * This function is run when the robot is first started up and should be
+	 * used for any initialization code.
+	 */
+	@Override
+	public void robotInit() {
+	}
+
+	/**
+	 * This autonomous (along with the chooser code above) shows how to select
+	 * between different autonomous modes using the dashboard. The sendable
+	 * chooser code works with the Java SmartDashboard. If you prefer the
+	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+	 * getString line to get the auto name from the text box below the Gyro
+	 *
+	 * <p>You can add additional auto modes by adding additional comparisons to
+	 * the switch structure below with additional strings. If using the
+	 * SendableChooser make sure to add them to the chooser code above as well.
+	 */
+	// Variables for auto modes
+	private Timer driveTimer = new Timer();
+	int autoState;
+
+	NetworkTable table;
+	String gameData;
+	Boolean allianceColorRed;
+	int allianceNumber;
+	Boolean goesLeft = true;
+
+
+	public void drive(double throttle, double turn) {
+		drivetrain.drive(throttle, turn);
+	}
+
+	@Override
+	public void autonomousInit() {
+		// rest timer
+		driveTimer.reset();
+		// Start timer
+		driveTimer.start();
+
+		gameData = DriverStation.getInstance().getGameSpecificMessage();
+		allianceColorRed = DriverStation.getInstance().getAlliance() == DriverStation.Alliance.Red;
+		allianceNumber = DriverStation.getInstance().getLocation();
+
+
+		goesLeft = (gameData.charAt(0) == 'L');
+	}
+
+
+
+	/**
+	 * This function is called periodically during autonomous.
+	 */
+	@Override
+	public void autonomousPeriodic() {
+		autoState = 0;
+		switch (autoState) {
+			case 0: // Drive forward a tiny bit
+				drive(1, 0);
+				if (driveTimer.get() > 1000) {
+					driveTimer.reset();
+					autoState++;
+				} 
+				break;
+			case 1: // Turn to angle
+				// use game data
+				double turnSpeed = 0.5;
+				if(goesLeft) { turnSpeed = -1*turnSpeed; }
+				drive(0, turnSpeed);
+				if (driveTimer.get() > 500) { 
+					driveTimer.reset();
+					autoState++;
+				} 
+				break;
+			case 2: // Drive to Switch
+				drive(1, 0);
+				if (driveTimer.get() > 2500) {
+					drive(0, 0);
+					driveTimer.reset();
+					autoState++;
+				} 
+				break;
+			case 3: // SCOREEEEEEE
+
+				// spit out here
+				break;
+		}
+	}
+
+	/**
+	 * This function is called periodically during operator control.
+	 */
+	@Override
+	public void teleopPeriodic() {
+	}
+
+	/**
+	 * This function is called periodically during test mode.
+	 */
+	@Override
+	public void testPeriodic() {
+	}
+}

Java/jankCenterSwitch/src/org/usfirst/frc/team1665/robot/Robot2.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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 org.usfirst.frc.team1665.robot;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the build.properties file in the
+ * project.
+ */
+public class Robot2 extends IterativeRobot {
+	private Drivetrain drivetrain = new Drivetrain();
+
+	/**
+	 * This function is run when the robot is first started up and should be
+	 * used for any initialization code.
+	 */
+	@Override
+	public void robotInit() {
+	}
+
+	/**
+	 * This autonomous (along with the chooser code above) shows how to select
+	 * between different autonomous modes using the dashboard. The sendable
+	 * chooser code works with the Java SmartDashboard. If you prefer the
+	 * LabVIEW Dashboard, remove all of the chooser code and uncomment the
+	 * getString line to get the auto name from the text box below the Gyro
+	 *
+	 * <p>You can add additional auto modes by adding additional comparisons to
+	 * the switch structure below with additional strings. If using the
+	 * SendableChooser make sure to add them to the chooser code above as well.
+	 */
+	// Variables for auto modes
+	NetworkTable table;
+	String gameData;
+	Boolean allianceColorRed;
+	int allianceNumber;
+	Boolean goesLeft = true;
+
+	Command autonomousCommand;
+
+
+	@Override
+	public void autonomousInit() {
+
+		gameData = DriverStation.getInstance().getGameSpecificMessage();	
+
+		goesLeft = (gameData.charAt(0) == 'L');
+
+		// put real drivetrain command here
+		autonomousCommand = new centerSwitchAuto(Drivetrain,goesLeft);
+
+		// Schedule the autonomous command (example)
+		if (autonomousCommand != null) {
+			autonomousCommand.start();
+	}
+	}
+
+
+
+	/**
+	 * This function is called periodically during autonomous.
+	 */
+	@Override
+	public void autonomousPeriodic() {
+		Scheduler.getInstance().run();		
+	}
+
+	/**
+	 * This function is called periodically during operator control.
+	 */
+	@Override
+	public void teleopPeriodic() {
+	}
+
+	/**
+	 * This function is called periodically during test mode.
+	 */
+	@Override
+	public void testPeriodic() {
+	}
+}