From 056ec8b8ba9bfe1c9101a0ff5eaa4882fbd98f42 Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Tue, 1 Feb 2022 17:08:25 -0800
Subject: [PATCH 1/7] TankDrive

---
 .idea/gradle.xml                              |  1 +
 .idea/misc.xml                                |  2 +-
 .idea/workspace.xml                           | 87 ++++++++++++++++++-
 .../java/com/github/mittyrobotics/Robot.java  | 56 +++++++++++-
 4 files changed, 140 insertions(+), 6 deletions(-)

diff --git a/.idea/gradle.xml b/.idea/gradle.xml
index ba1ec5c..611e7c8 100644
--- a/.idea/gradle.xml
+++ b/.idea/gradle.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="GradleMigrationSettings" migrationVersion="1" />
   <component name="GradleSettings">
     <option name="linkedExternalProjectsSettings">
       <GradleProjectSettings>
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 3e79c5f..5821b2f 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -4,5 +4,5 @@
   <component name="FrameworkDetectionExcludesConfiguration">
     <file type="web" url="file://$PROJECT_DIR$" />
   </component>
-  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" project-jdk-name="11" project-jdk-type="JavaSDK" />
+  <component name="ProjectRootManager" version="2" languageLevel="JDK_11" default="true" project-jdk-name="11" project-jdk-type="JavaSDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 682050b..8bea73e 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,10 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiGyro.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/RomiGyro.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -26,7 +28,46 @@
         </task>
         <projects_view>
           <tree_state>
-            <expand />
+            <expand>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+                <item name="build" type="c8890929:TasksNode$1" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+                <item name="build setup" type="c8890929:TasksNode$1" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+                <item name="embeddedtools" type="c8890929:TasksNode$1" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+                <item name="gradlerio" type="c8890929:TasksNode$1" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Dependencies" type="6de06a37:ExternalSystemViewDefaultContributor$MyDependenciesNode" />
+              </path>
+            </expand>
             <select />
           </tree_state>
         </projects_view>
@@ -36,6 +77,17 @@
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
+  <component name="GitSEFilterConfiguration">
+    <file-type-list>
+      <filtered-out-file-type name="LOCAL_BRANCH" />
+      <filtered-out-file-type name="REMOTE_BRANCH" />
+      <filtered-out-file-type name="TAG" />
+      <filtered-out-file-type name="COMMIT_BY_MESSAGE" />
+    </file-type-list>
+  </component>
+  <component name="MarkdownSettingsMigration">
+    <option name="stateVersion" value="1" />
+  </component>
   <component name="ProjectId" id="1popUgtFRoEscWY2dSrfhCdDagz" />
   <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">
@@ -53,7 +105,7 @@
     <property name="project.structure.side.proportion" value="0.0" />
     <property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
   </component>
-  <component name="RunManager">
+  <component name="RunManager" selected="Gradle.tko-romi [downloadAll]">
     <configuration default="true" type="ArquillianJUnit" factoryName="" nameIsGenerated="true">
       <option name="arquillianRunConfiguration">
         <value>
@@ -65,6 +117,32 @@
         <option name="Make" enabled="true" />
       </method>
     </configuration>
+    <configuration name="tko-romi [downloadAll]" type="GradleRunConfiguration" factoryName="Gradle" temporary="true">
+      <ExternalSystemSettings>
+        <option name="executionName" />
+        <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="externalSystemIdString" value="GRADLE" />
+        <option name="scriptParameters" />
+        <option name="taskDescriptions">
+          <list />
+        </option>
+        <option name="taskNames">
+          <list>
+            <option value="downloadAll" />
+          </list>
+        </option>
+        <option name="vmOptions" />
+      </ExternalSystemSettings>
+      <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+      <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+      <DebugAllEnabled>false</DebugAllEnabled>
+      <method v="2" />
+    </configuration>
+    <recent_temporary>
+      <list>
+        <item itemvalue="Gradle.tko-romi [downloadAll]" />
+      </list>
+    </recent_temporary>
   </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
@@ -81,4 +159,7 @@
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="3" />
   </component>
+  <component name="WpiLibVersionService">
+    <option name="lastChecked" value="20220201163912" />
+  </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 63ba14c..1d79d3c 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -17,19 +17,66 @@ public class Robot extends TimedRobot {
     /*
      *  INITIALIZE CLASSES HERE
      */
+    Spark SparkLeft, SparkRight;
+    XboxController controller = new XboxController(0);
+
 
 
 
     @Override
     public void robotInit() {
+        SparkLeft = new Spark(0); // 0 is example of left channel
+        SparkRight = new Spark(1); // 1 is example of right channel
+        //SparkLeft.setInverted(true); // boolean parameter example
+        //SparkRight.setInverted(false); // boolean parameter example
+
+
+
 
 
     }
 
+
+
     //Runs periodically during teleoperated mode
     /*
      *  WRITE YOUR DRIVE CODE HERE
      */
+    public void challenge() {
+        double y = controller.getY(GenericHID.Hand.kLeft);
+        double y2 = controller.getY(GenericHID.Hand.kRight);
+        double x = controller.getX(GenericHID.Hand.kLeft);
+        double x2 = controller.getX(GenericHID.Hand.kRight);
+        //forward command
+        if (y > 0 && y <= 1) {
+            if (y2 > 0 && y2 <= 1) {
+                // go forward spark commands
+                SparkLeft.set(1);
+                SparkRight.set(1);
+            }
+        }
+        //go backwards
+        else if (y < 0 && y >= -1) {
+            if (y2 < 0 && y2 >= -1){
+                // go backward spark commands
+                SparkLeft.set(-1);
+                SparkRight.set(-1);
+            }
+        }
+        //go right
+        else if (x2 > 0 && x2 <= 1) {
+            //go right spark command
+            SparkRight.set(1);
+            SparkLeft.set(0);
+        }
+        // go left
+        else if (x < 0 && x >= -1) {
+            //go left spark command
+            SparkRight.set(1);
+            SparkRight.set(0);
+        }
+    }
+
     @Override
     public void teleopPeriodic() {
 
@@ -38,19 +85,24 @@ public void teleopPeriodic() {
     //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
     @Override
     public void autonomousInit() {
+        SparkLeft.set(1);
+        SparkRight.set(-1);
+
 
     }
 
     //Runs when teleoperated mode (robot controlled by driver) is first activated
     @Override
     public void teleopInit() {
-
+        SparkLeft.set(-1);
+        SparkRight.set(1);
     }
 
     //Runs when test mode is activated
     @Override
     public void testInit() {
-
+        SparkLeft.set(-1);
+        SparkRight.set(-1);
     }
 
     //Runs whenever the robot is on, periodically: should be used for command schedulers

From bca734e4af8731a31a6c24a8fcc9ebc7f8d87d3d Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Sun, 13 Feb 2022 20:28:57 -0800
Subject: [PATCH 2/7] MotionCode

---
 .idea/workspace.xml                           |  4 +--
 .../java/com/github/mittyrobotics/Robot.java  | 25 +++++++++++++++----
 2 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 8bea73e..705b285 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,8 +5,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/gradle.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/gradle.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/.idea/misc.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/misc.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
@@ -160,6 +158,6 @@
     <option name="version" value="3" />
   </component>
   <component name="WpiLibVersionService">
-    <option name="lastChecked" value="20220201163912" />
+    <option name="lastChecked" value="20220208152310" />
   </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 1d79d3c..3c5bfe5 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -1,10 +1,8 @@
 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;
 
 
 //Java automatically runs this class, and calls the various functions.
@@ -19,6 +17,11 @@ public class Robot extends TimedRobot {
      */
     Spark SparkLeft, SparkRight;
     XboxController controller = new XboxController(0);
+    PIDController controller = new PIDController();
+    TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
+
+
+
 
 
 
@@ -47,7 +50,7 @@ public void challenge() {
         double y2 = controller.getY(GenericHID.Hand.kRight);
         double x = controller.getX(GenericHID.Hand.kLeft);
         double x2 = controller.getX(GenericHID.Hand.kRight);
-        //forward command
+        //forward command\
         if (y > 0 && y <= 1) {
             if (y2 > 0 && y2 <= 1) {
                 // go forward spark commands
@@ -79,6 +82,18 @@ else if (x < 0 && x >= -1) {
 
     @Override
     public void teleopPeriodic() {
+        controller.setSetpoint(15*TICKS_PER_INCH);
+        double output = controller.calculate(encoder.getPosition());
+        spark.set(output);
+
+        double FEED_FORWARD = 1.0/MAX_VELOCITY
+        spark.set(10*FEED_FORWARD);
+
+        controller.setSetpoint(10);
+        double output = controller.calculate(encoder.getVelocity()*10);
+        spark.set(10*FEED_FORWARD + output);
+
+
 
     }
 

From d00bdc30709e8d51f5a9376048889bca4c3528e3 Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Tue, 22 Feb 2022 16:33:28 -0800
Subject: [PATCH 3/7] OI

---
 .idea/workspace.xml                           | 62 ++++++++-----------
 .../mittyrobotics/DriveTrainSubsystem.java    |  4 ++
 .../mittyrobotics/DriveTrainSubsytem.java     |  8 +++
 .../java/com/github/mittyrobotics/OI.java     | 31 ++++++++++
 .../java/com/github/mittyrobotics/Robot.java  |  2 +-
 .../TankDriveCommand/TankDriveCommand.java    | 26 ++++++++
 6 files changed, 97 insertions(+), 36 deletions(-)
 create mode 100644 src/main/java/com/github/mittyrobotics/DriveTrainSubsystem.java
 create mode 100644 src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java
 create mode 100644 src/main/java/com/github/mittyrobotics/OI.java
 create mode 100644 src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 705b285..c899943 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,6 +5,9 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
@@ -31,40 +34,6 @@
                 <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
                 <item name="tko-romi" type="f1a62948:ProjectNode" />
               </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Tasks" type="e4a08cd1:TasksNode" />
-              </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Tasks" type="e4a08cd1:TasksNode" />
-                <item name="build" type="c8890929:TasksNode$1" />
-              </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Tasks" type="e4a08cd1:TasksNode" />
-                <item name="build setup" type="c8890929:TasksNode$1" />
-              </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Tasks" type="e4a08cd1:TasksNode" />
-                <item name="embeddedtools" type="c8890929:TasksNode$1" />
-              </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Tasks" type="e4a08cd1:TasksNode" />
-                <item name="gradlerio" type="c8890929:TasksNode$1" />
-              </path>
-              <path>
-                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
-                <item name="tko-romi" type="f1a62948:ProjectNode" />
-                <item name="Dependencies" type="6de06a37:ExternalSystemViewDefaultContributor$MyDependenciesNode" />
-              </path>
             </expand>
             <select />
           </tree_state>
@@ -72,6 +41,13 @@
       </state>
     </system>
   </component>
+  <component name="FileTemplateManagerImpl">
+    <option name="RECENT_TEMPLATES">
+      <list>
+        <option value="Class" />
+      </list>
+    </option>
+  </component>
   <component name="Git.Settings">
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
@@ -103,6 +79,11 @@
     <property name="project.structure.side.proportion" value="0.0" />
     <property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
   </component>
+  <component name="RecentsManager">
+    <key name="CreateClassDialog.RecentsKey">
+      <recent name="com.github.mittyrobotics" />
+    </key>
+  </component>
   <component name="RunManager" selected="Gradle.tko-romi [downloadAll]">
     <configuration default="true" type="ArquillianJUnit" factoryName="" nameIsGenerated="true">
       <option name="arquillianRunConfiguration">
@@ -157,7 +138,18 @@
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="3" />
   </component>
+  <component name="Vcs.Log.Tabs.Properties">
+    <option name="TAB_STATES">
+      <map>
+        <entry key="MAIN">
+          <value>
+            <State />
+          </value>
+        </entry>
+      </map>
+    </option>
+  </component>
   <component name="WpiLibVersionService">
-    <option name="lastChecked" value="20220208152310" />
+    <option name="lastChecked" value="20220222160723" />
   </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/DriveTrainSubsystem.java b/src/main/java/com/github/mittyrobotics/DriveTrainSubsystem.java
new file mode 100644
index 0000000..f0b0e55
--- /dev/null
+++ b/src/main/java/com/github/mittyrobotics/DriveTrainSubsystem.java
@@ -0,0 +1,4 @@
+package com.github.mittyrobotics;
+
+public class DriveTrainSubsystem {
+}
diff --git a/src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java b/src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java
new file mode 100644
index 0000000..73a50f4
--- /dev/null
+++ b/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;
+
+}
diff --git a/src/main/java/com/github/mittyrobotics/OI.java b/src/main/java/com/github/mittyrobotics/OI.java
new file mode 100644
index 0000000..09445b2
--- /dev/null
+++ b/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 getxBox  edu.wpi.first.wpilibj.XboxController getXboxController() {
+        if (XboxController == null) {
+            XboxController = new XboxController(0);
+
+        }
+        return XboxController;
+
+    }
+
+
+}
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 3c5bfe5..939a431 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -16,7 +16,7 @@ public class Robot extends TimedRobot {
      *  INITIALIZE CLASSES HERE
      */
     Spark SparkLeft, SparkRight;
-    XboxController controller = new XboxController(0);
+    OI.getInstance().getXboxController();
     PIDController controller = new PIDController();
     TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
 
diff --git a/src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java b/src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java
new file mode 100644
index 0000000..41e5f40
--- /dev/null
+++ b/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() {
+
+    }
+
+}

From 552c15cfc8296716ea0830ced33dc941dae39181 Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Tue, 8 Mar 2022 15:47:54 -0800
Subject: [PATCH 4/7] Pneumatics Challenge

---
 .idea/workspace.xml                           |  5 +----
 .../java/com/github/mittyrobotics/Robot.java  | 19 ++++++++++++++++---
 2 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index c899943..b07ce0a 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -5,9 +5,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/DriveTrainSubsytem.java" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/TankDriveCommand/TankDriveCommand.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
@@ -150,6 +147,6 @@
     </option>
   </component>
   <component name="WpiLibVersionService">
-    <option name="lastChecked" value="20220222160723" />
+    <option name="lastChecked" value="20220308151546" />
   </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 939a431..cbe2146 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -16,9 +16,12 @@ public class Robot extends TimedRobot {
      *  INITIALIZE CLASSES HERE
      */
     Spark SparkLeft, SparkRight;
-    OI.getInstance().getXboxController();
+    OI.getInstance().getXboxController().getAbutton();
     PIDController controller = new PIDController();
     TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
+    DoubleSolenoid s;
+    DoubleSolenoid r;
+
 
 
 
@@ -100,9 +103,19 @@ public void teleopPeriodic() {
     //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
     @Override
     public void autonomousInit() {
-        SparkLeft.set(1);
-        SparkRight.set(-1);
 
+        if (OI.getInstance().getXboxController().getAButton()) {
+            s.set(DoubleSolenoid.Value.kForward);
+        }
+        else if (OI.getInstance().getXboxController().getBButton()) {
+            s.set(DoubleSolenoid.Value.kReverse);
+        }
+        else if (OI.getInstance().getXboxController().getXButton()) {
+            r.set(DoubleSolenoid.Value.kForward);
+        }
+        else if (OI.getInstance().getXboxController().getYButton()) {
+            r.set(DoubleSolenoid.Value.kReverse);
+        }
 
     }
 

From f17b55456e0a78211c7964cd03efbce8179bc8f5 Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Tue, 8 Mar 2022 16:15:50 -0800
Subject: [PATCH 5/7] UpdatedPneumatics

---
 .idea/workspace.xml                               | 1 +
 src/main/java/com/github/mittyrobotics/OI.java    | 2 +-
 src/main/java/com/github/mittyrobotics/Robot.java | 9 +++++++--
 3 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index b07ce0a..bcc9c0d 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -6,6 +6,7 @@
   <component name="ChangeListManager">
     <list default="true" id="34a8bc03-e56d-48a3-9c6f-5fe36900ebe8" name="Default Changelist" comment="">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/OI.java" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/github/mittyrobotics/Robot.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
diff --git a/src/main/java/com/github/mittyrobotics/OI.java b/src/main/java/com/github/mittyrobotics/OI.java
index 09445b2..9871447 100644
--- a/src/main/java/com/github/mittyrobotics/OI.java
+++ b/src/main/java/com/github/mittyrobotics/OI.java
@@ -18,7 +18,7 @@ public static OI getInstance() {
 
     }
 
-    public XboxController getxBox  edu.wpi.first.wpilibj.XboxController getXboxController() {
+    public XboxController getXox  edu.wpi.first.wpilibj.XboxController getXboxController() {
         if (XboxController == null) {
             XboxController = new XboxController(0);
 
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index cbe2146..f56473c 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -3,12 +3,17 @@
 import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import com.github.mittyrobotics.util.Compressor;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 
 
 //Java automatically runs this class, and calls the various functions.
 /*
  *  YOUR WIFI MUST BE CONNECTED TO ROMI FOR THIS TO WORK
  */
+
+
 public class Robot extends TimedRobot {
 
     //Runs when the robot is first started up and should be used for any initialization code
@@ -19,8 +24,8 @@ public class Robot extends TimedRobot {
     OI.getInstance().getXboxController().getAbutton();
     PIDController controller = new PIDController();
     TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
-    DoubleSolenoid s;
-    DoubleSolenoid r;
+    DoubleSolenoid s = new DoubleSolenoid(1, 2);
+    DoubleSolenoid r = new DoubleSolenoid(1, 2);
 
 
 

From 44dc99cdeddb49ad52e7a52c96e50cd7c148fa3d Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Thu, 15 Sep 2022 18:51:01 -0700
Subject: [PATCH 6/7] PID Project

---
 .idea/workspace.xml                           | 30 +++++++++++
 .../java/com/github/mittyrobotics/Robot.java  | 53 +++++++++++++++++--
 2 files changed, 80 insertions(+), 3 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index bcc9c0d..bf8941f 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -32,6 +32,20 @@
                 <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
                 <item name="tko-romi" type="f1a62948:ProjectNode" />
               </path>
+<<<<<<< Updated upstream
+=======
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+              </path>
+              <path>
+                <item name="" type="6a2764b6:ExternalProjectsStructure$RootNode" />
+                <item name="tko-romi" type="f1a62948:ProjectNode" />
+                <item name="Tasks" type="e4a08cd1:TasksNode" />
+                <item name="gradlerio" type="c8890929:TasksNode$1" />
+              </path>
+>>>>>>> Stashed changes
             </expand>
             <select />
           </tree_state>
@@ -147,7 +161,23 @@
       </map>
     </option>
   </component>
+<<<<<<< Updated upstream
   <component name="WpiLibVersionService">
     <option name="lastChecked" value="20220308151546" />
+=======
+  <component name="XDebuggerManager">
+    <breakpoint-manager>
+      <breakpoints>
+        <line-breakpoint enabled="true" type="java-method">
+          <url>jar://$USER_HOME$/.gradle/caches/modules-2/files-2.1/edu.wpi.first.wpilibj/wpilibj-java/2021.2.2/f19d9fb4592ce5c22c9061880b51089ec0b06bde/wpilibj-java-2021.2.2-sources.jar!/edu/wpi/first/wpilibj/IterativeRobotBase.java</url>
+          <line>60</line>
+          <properties class="edu.wpi.first.wpilibj.IterativeRobotBase" method="startCompetition">
+            <option name="EMULATED" value="true" />
+          </properties>
+          <option name="timeStamp" value="1" />
+        </line-breakpoint>
+      </breakpoints>
+    </breakpoint-manager>
+>>>>>>> Stashed changes
   </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index f56473c..1dfbc74 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -1,11 +1,18 @@
 package com.github.mittyrobotics;
 
+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;
+<<<<<<< Updated upstream
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import com.github.mittyrobotics.util.Compressor;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+=======
+
+import static com.github.mittyrobotics.Constants.*;
+>>>>>>> Stashed changes
 
 
 //Java automatically runs this class, and calls the various functions.
@@ -20,6 +27,7 @@ public class Robot extends TimedRobot {
     /*
      *  INITIALIZE CLASSES HERE
      */
+<<<<<<< Updated upstream
     Spark SparkLeft, SparkRight;
     OI.getInstance().getXboxController().getAbutton();
     PIDController controller = new PIDController();
@@ -44,10 +52,22 @@ public void robotInit() {
 
 
 
+=======
 
-    }
+    TrapezoidProfile.State start;
+    TrapezoidProfile.State end;
+    TrapezoidProfile.Constraints constraints;
+    TrapezoidProfile profile;
+    TrapezoidProfile.State profileOutput;
+    Talon falcon = new Talon(0);
+>>>>>>> Stashed changes
+
+    PIDController controller;
+    Encoder encoder;
+    double t;
 
 
+<<<<<<< Updated upstream
 
     //Runs periodically during teleoperated mode
     /*
@@ -104,8 +124,21 @@ public void teleopPeriodic() {
 
 
     }
+=======
+>>>>>>> Stashed changes
 
-    //Runs when antonomous mode (robot runs on its own) first activated via the desktop application
+        @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
     @Override
     public void autonomousInit() {
 
@@ -127,8 +160,12 @@ else if (OI.getInstance().getXboxController().getYButton()) {
     //Runs when teleoperated mode (robot controlled by driver) is first activated
     @Override
     public void teleopInit() {
+<<<<<<< Updated upstream
         SparkLeft.set(-1);
         SparkRight.set(1);
+=======
+        t = 0;
+>>>>>>> Stashed changes
     }
 
     //Runs when test mode is activated
@@ -155,4 +192,14 @@ public void autonomousPeriodic() {
     public void testPeriodic() {
 
     }
-}
\ No newline at end of file
+
+    @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;
+    }
+}
+

From a3e1ff4f08cd9eba1793595bc92ba319ace32b58 Mon Sep 17 00:00:00 2001
From: rohankoduru <rohankoduru25@mittymonarch.com>
Date: Thu, 22 Sep 2022 14:56:58 -0700
Subject: [PATCH 7/7] PID project

---
 .../java/com/github/mittyrobotics/Robot.java  | 115 +-----------------
 1 file changed, 1 insertion(+), 114 deletions(-)

diff --git a/src/main/java/com/github/mittyrobotics/Robot.java b/src/main/java/com/github/mittyrobotics/Robot.java
index 1dfbc74..f94ea81 100644
--- a/src/main/java/com/github/mittyrobotics/Robot.java
+++ b/src/main/java/com/github/mittyrobotics/Robot.java
@@ -5,54 +5,20 @@
 import edu.wpi.first.wpilibj.*;
 import edu.wpi.first.wpilibj.controller.PIDController;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
-<<<<<<< Updated upstream
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import com.github.mittyrobotics.util.Compressor;
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-=======
 
 import static com.github.mittyrobotics.Constants.*;
->>>>>>> Stashed changes
 
 
 //Java automatically runs this class, and calls the various functions.
 /*
  *  YOUR WIFI MUST BE CONNECTED TO ROMI FOR THIS TO WORK
  */
-
-
 public class Robot extends TimedRobot {
 
     //Runs when the robot is first started up and should be used for any initialization code
     /*
      *  INITIALIZE CLASSES HERE
      */
-<<<<<<< Updated upstream
-    Spark SparkLeft, SparkRight;
-    OI.getInstance().getXboxController().getAbutton();
-    PIDController controller = new PIDController();
-    TrapezoidProfile.State start = new TrapezoidProfile.State(0, 0);
-    DoubleSolenoid s = new DoubleSolenoid(1, 2);
-    DoubleSolenoid r = new DoubleSolenoid(1, 2);
-
-
-
-
-
-
-
-
-    @Override
-    public void robotInit() {
-        SparkLeft = new Spark(0); // 0 is example of left channel
-        SparkRight = new Spark(1); // 1 is example of right channel
-        //SparkLeft.setInverted(true); // boolean parameter example
-        //SparkRight.setInverted(false); // boolean parameter example
-
-
-
-
-=======
 
     TrapezoidProfile.State start;
     TrapezoidProfile.State end;
@@ -60,72 +26,12 @@ public void robotInit() {
     TrapezoidProfile profile;
     TrapezoidProfile.State profileOutput;
     Talon falcon = new Talon(0);
->>>>>>> Stashed changes
 
     PIDController controller;
     Encoder encoder;
     double t;
 
 
-<<<<<<< Updated upstream
-
-    //Runs periodically during teleoperated mode
-    /*
-     *  WRITE YOUR DRIVE CODE HERE
-     */
-    public void challenge() {
-        double y = controller.getY(GenericHID.Hand.kLeft);
-        double y2 = controller.getY(GenericHID.Hand.kRight);
-        double x = controller.getX(GenericHID.Hand.kLeft);
-        double x2 = controller.getX(GenericHID.Hand.kRight);
-        //forward command\
-        if (y > 0 && y <= 1) {
-            if (y2 > 0 && y2 <= 1) {
-                // go forward spark commands
-                SparkLeft.set(1);
-                SparkRight.set(1);
-            }
-        }
-        //go backwards
-        else if (y < 0 && y >= -1) {
-            if (y2 < 0 && y2 >= -1){
-                // go backward spark commands
-                SparkLeft.set(-1);
-                SparkRight.set(-1);
-            }
-        }
-        //go right
-        else if (x2 > 0 && x2 <= 1) {
-            //go right spark command
-            SparkRight.set(1);
-            SparkLeft.set(0);
-        }
-        // go left
-        else if (x < 0 && x >= -1) {
-            //go left spark command
-            SparkRight.set(1);
-            SparkRight.set(0);
-        }
-    }
-
-    @Override
-    public void teleopPeriodic() {
-        controller.setSetpoint(15*TICKS_PER_INCH);
-        double output = controller.calculate(encoder.getPosition());
-        spark.set(output);
-
-        double FEED_FORWARD = 1.0/MAX_VELOCITY
-        spark.set(10*FEED_FORWARD);
-
-        controller.setSetpoint(10);
-        double output = controller.calculate(encoder.getVelocity()*10);
-        spark.set(10*FEED_FORWARD + output);
-
-
-
-    }
-=======
->>>>>>> Stashed changes
 
         @Override
     public void robotInit() {
@@ -142,37 +48,18 @@ public void robotInit() {
     @Override
     public void autonomousInit() {
 
-        if (OI.getInstance().getXboxController().getAButton()) {
-            s.set(DoubleSolenoid.Value.kForward);
-        }
-        else if (OI.getInstance().getXboxController().getBButton()) {
-            s.set(DoubleSolenoid.Value.kReverse);
-        }
-        else if (OI.getInstance().getXboxController().getXButton()) {
-            r.set(DoubleSolenoid.Value.kForward);
-        }
-        else if (OI.getInstance().getXboxController().getYButton()) {
-            r.set(DoubleSolenoid.Value.kReverse);
-        }
-
     }
 
     //Runs when teleoperated mode (robot controlled by driver) is first activated
     @Override
     public void teleopInit() {
-<<<<<<< Updated upstream
-        SparkLeft.set(-1);
-        SparkRight.set(1);
-=======
         t = 0;
->>>>>>> Stashed changes
     }
 
     //Runs when test mode is activated
     @Override
     public void testInit() {
-        SparkLeft.set(-1);
-        SparkRight.set(-1);
+
     }
 
     //Runs whenever the robot is on, periodically: should be used for command schedulers