package org.usfirst.frc.team4828;

import com.kauailabs.navx.frc.AHRS;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SPI;
import edu.wpi.first.wpilibj.Timer;

public class Robot extends IterativeRobot {
    private static final int SUPPLIED_VOLTS = 5;

    Joystick driveStick;
    DriveTrain drive;
    static AHRS navx;
    DigitalInput ir;
    double range;
    UltraThread us;
    AccumulatorResult accum;

    @Override
    public void robotInit() {
        super.robotInit();

        System.out.println("THE ROBOT TURNED ON");
        driveStick = new Joystick(0);
        drive = new DriveTrain(1, 2, 3, 4);
        navx = new AHRS(SPI.Port.kMXP);
        ir = new DigitalInput(2);
        us = new UltraThread(0);
        accum = new AccumulatorResult();
        us.start();
    }
    @Override
    public void autonomousInit() {
        super.autonomousInit();
        System.out.println("Entering auton...");
    }

    @Override
    public void autonomousPeriodic() {
        super.autonomousPeriodic();
    }

    @Override
    public void teleopInit() {
        super.teleopInit();
        System.out.println("Entering teleop...");
    }

    @Override
    public void teleopPeriodic() {
        super.teleopPeriodic();
        drive.mecanumDrive(driveStick.getX() / 2, driveStick.getY() / 2,
            driveStick.getTwist() / 2, navx.getAngle());
        if (driveStick.getRawButton(11)) {
            navx.reset();
        }

        //System.out.println("Angle: " + navx.getAngle());
        System.out.println("IR Status: " + ir.get());


    }

    @Override
    public void testInit() {
        super.testInit();
        System.out.println("Entering test...");
    }

    public void testPeriodic() {
        System.out.println("Ultrasonic Dist: " + us.distCm);
        Timer.delay(0.05);
    }
}

@@ -64,16 +64,107 @@
 c.AHRS;%0A
+import edu.wpi.first.wpilibj.AccumulatorResult;%0Aimport edu.wpi.first.wpilibj.DigitalInput;%0A
 import e

Add missing packages to resolve dependencies