Added a manual override on the indexer

src/org/team708/robot/OI.java

@@ -42,7 +42,8 @@ public class OI {
 	// Claw Buttons
 	public static final int TOGGLE_CLAW_OPEN_BUTTON = Gamepad.button_R_Shoulder;
 //	public static final int INTERRUPT_CLAW_BUTTON = Gamepad.button_L_Shoulder;
-	public static final int ANTI_SWAG_CLAW_BUTTON = Gamepad.button_L_Shoulder;
+//	public static final int ANTI_SWAG_CLAW_BUTTON = Gamepad.button_L_Shoulder;
+	public static final int INDEXER_MANUAL_OVERRIDE_BUTTON = Gamepad.button_L_Shoulder;
 
 	// Claw Elevator Buttons
 	public static final int clawHeightIncrementButton = Gamepad.button_B;
@@ -64,7 +65,8 @@ public class OI {
 	private static final AxisDown toteDown = new AxisDown(operatorGamepad, TOTE_AXIS);									// Moves the indexer down to release the tote stack
 	public static final Button toggleClawOpen = new JoystickButton(operatorGamepad, TOGGLE_CLAW_OPEN_BUTTON);			// Opens and closes the claw on a toggle
 //	public static final Button interruptClaw = new JoystickButton(operatorGamepad, INTERRUPT_CLAW_BUTTON);				// Toggles the wrist position (horizontal/vertical)
-	public static final Button antiSwagClaw = new JoystickButton(operatorGamepad, ANTI_SWAG_CLAW_BUTTON);
+//	public static final Button antiSwagClaw = new JoystickButton(operatorGamepad, ANTI_SWAG_CLAW_BUTTON);
+	public static final Button indexerManualOverride = new JoystickButton(operatorGamepad, INDEXER_MANUAL_OVERRIDE_BUTTON);
 	public static final Button clawHeightIncrement = new JoystickButton(operatorGamepad, clawHeightIncrementButton);	// Increases the claw height by the height of a tote
 	public static final Button clawHeightDecrement = new JoystickButton(operatorGamepad, clawHeightDecrementButton);	// Decreases the claw height by the height of a tote
 	public static final Button gucciGrabberToggle = new JoystickButton(operatorGamepad, GUCCI_GRABBER_TOGGLE_BUTTON);	// Toggles the position of the gucci grabber

src/org/team708/robot/commands/clawElevator/JoystickMoveClawElevator.java

@@ -37,11 +37,11 @@ protected void execute() {
     		Robot.clawElevator.resetEncoder();
     	} else {}
 
-    	if (OI.antiSwagClaw.get()) {
-    		Robot.clawElevator.manualMove(moveSpeed * Constants.ANTISWAG);
-    	} else {
+//    	if (OI.antiSwagClaw.get()) {
+//    		Robot.clawElevator.manualMove(moveSpeed * Constants.ANTISWAG);
+//    	} else {
     		Robot.clawElevator.manualMove(moveSpeed);
-    	}
+//    	}
 
     }
 

src/org/team708/robot/commands/indexer/IndexerDown.java

@@ -1,6 +1,7 @@
 package org.team708.robot.commands.indexer;
 
 import org.team708.robot.Constants;
+import org.team708.robot.OI;
 import org.team708.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
@@ -24,16 +25,20 @@ protected void initialize() {
 
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
-//    	if (!Robot.indexer.indexerDown) {
-    		Robot.indexer.lowerIndexer();
-//    	}
+    	if (!OI.indexerManualOverride.get()) {
+	//    	if (!Robot.indexer.indexerDown) {
+	    		Robot.indexer.lowerIndexer();
+	//    	}
+    	} else {
+    		cancel();
+    	}
     }
 
     // Make this return true when this Command no longer needs to run execute()
     protected boolean isFinished() {
 //    	return Math708.isWithinThreshold(Robot.toteElevator.getEncoderDistance(), -Robot.toteElevator.TOP_ENCODER_DISTANCE, threshold)
 //    				|| Robot.toteElevator.elevatorDown;
-    	return Robot.indexer.getEncoderDistance() <= -(Constants.TOTE_HEIGHT + EXTRA_TRAVEL_DISTANCE);
+    	return Robot.indexer.getEncoderDistance() <= -(Constants.TOTE_HEIGHT + EXTRA_TRAVEL_DISTANCE) || OI.indexerManualOverride.get();
     }
 
     // Called once after isFinished returns true

src/org/team708/robot/commands/indexer/IndexerUp.java

@@ -1,6 +1,7 @@
 package org.team708.robot.commands.indexer;
 
 import org.team708.robot.Constants;
+import org.team708.robot.OI;
 import org.team708.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
@@ -41,22 +42,26 @@ protected void initialize() {
 
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
-    	if (Robot.indexer.toteCount == 0 && !irHasTote) {
-    		irHasTote = (Robot.indexer.getIRDistance() <= Constants.IR_HAS_TOTE_DISTANCE);
+    	if (!OI.indexerManualOverride.get()) {
+			if (Robot.indexer.toteCount == 0 && !irHasTote) {
+				irHasTote = (Robot.indexer.getIRDistance() <= Constants.IR_HAS_TOTE_DISTANCE);
+			}
+
+		//		if (!atToteLimitMax && hasToteInitially) {
+				Robot.indexer.raiseIndexer();
+		//		}
+    	} else {
+    		cancel();
     	}
-
-//		if (!atToteLimitMax && hasToteInitially) {
-			Robot.indexer.raiseIndexer();
-//		}
     }
 
     // Make this return true when this Command no longer needs to run execute()
     protected boolean isFinished() {
  //   	return Robot.indexer.getEncoderDistance() >= Constants.TOTE_HEIGHT || !hasToteInitially;
     	if (Robot.indexer.toteCount>=1)
-    		return (Robot.indexer.getEncoderDistance() >= Constants.TOTE_HEIGHT) || !hasToteInitially;
+    		return (Robot.indexer.getEncoderDistance() >= Constants.TOTE_HEIGHT) || !hasToteInitially || OI.indexerManualOverride.get();
     	else
-    	    return (irHasTote && (Robot.indexer.getIRDistance() > Constants.IR_HAS_TOTE_DISTANCE)) || !hasToteInitially;
+    	    return (irHasTote && (Robot.indexer.getIRDistance() > Constants.IR_HAS_TOTE_DISTANCE)) || !hasToteInitially || OI.indexerManualOverride.get();
     }
 
     // Called once after isFinished returns true

src/org/team708/robot/commands/indexer/JoystickIndexerControl.java

@@ -0,0 +1,44 @@
+package org.team708.robot.commands.indexer;
+
+import org.team708.robot.OI;
+import org.team708.robot.Robot;
+import org.team708.robot.util.Gamepad;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class JoystickIndexerControl extends Command {
+
+    public JoystickIndexerControl() {
+        // Use requires() here to declare subsystem dependencies
+        // eg. requires(chassis);
+    	requires(Robot.indexer);
+    }
+
+    // Called just before this Command runs the first time
+    protected void initialize() {
+    }
+
+    // Called repeatedly when this Command is scheduled to run
+    protected void execute() {
+    	if (OI.indexerManualOverride.get()) {
+    		Robot.indexer.move(OI.operatorGamepad.getAxis(Gamepad.leftStick_Y));
+    	}
+    }
+
+    // Make this return true when this Command no longer needs to run execute()
+    protected boolean isFinished() {
+        return false;
+    }
+
+    // Called once after isFinished returns true
+    protected void end() {
+    }
+
+    // Called when another command which requires one or more of the same
+    // subsystems is scheduled to run
+    protected void interrupted() {
+    }
+}

src/org/team708/robot/subsystems/Indexer.java

@@ -2,6 +2,7 @@
 
 import org.team708.robot.Constants;
 import org.team708.robot.RobotMap;
+import org.team708.robot.commands.indexer.JoystickIndexerControl;
 import org.team708.robot.util.IRSensor;
 
 import edu.wpi.first.wpilibj.CANTalon;
@@ -95,6 +96,10 @@ public void lowerIndexer() {
 //		indexerMotorRight.set(Constants.MOTOR_REVERSE);
 	}
 
+	public void move(double speed) {
+		indexerMotorLeft.set(-speed);
+	}
+
 	/**
 	 * Turns off the indexer so it does not move
 	 */
@@ -120,7 +125,7 @@ public void setToteCount(int toteCount) {
 
     public void initDefaultCommand() {
         // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
+        setDefaultCommand(new JoystickIndexerControl());
     }
 
     /**