// RobotBuilder Version: 2.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.


package org.usfirst.frc5933.Rosieppbs;

import org.usfirst.frc5933.Rosieppbs.commands.*;
import org.usfirst.frc5933.Rosieppbs.subsystems.*;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

/**
 * 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 manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
	Command arcadeDrive;
    Command autonomousCommand;

    public static OI oi;
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
    public static DriveTrain driveTrain;
    public static PingPongBallCannon pingPongBallCannon;

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS

    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    RobotMap.init();
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
        driveTrain = new DriveTrain();
        pingPongBallCannon = new PingPongBallCannon();

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
        // OI must be constructed after subsystems. If the OI creates Commands
        //(which it very likely will), subsystems are not guaranteed to be
        // constructed yet. Thus, their requires() statements may grab null
        // pointers. Bad news. Don't move it.
        oi = new OI();

        // instantiate the command used for the autonomous period
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

        autonomousCommand = new AutonomousCommand();

    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
        
        arcadeDrive = new ArcadeDrive();
    }

    /**
     * This function is called when the disabled button is hit.
     * You can use it to reset subsystems before shutting down.
     */
    public void disabledInit(){

    }

    public void disabledPeriodic() {
        Scheduler.getInstance().run();
    }

    public void autonomousInit() {
        // schedule the autonomous command (example)
        if (autonomousCommand != null) autonomousCommand.start();
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        Scheduler.getInstance().run();
    }

    public void teleopInit() {
        // This makes sure that the autonomous stops running when
        // teleop starts running. If you want the autonomous to
        // continue until interrupted by another command, remove
        // this line or comment it out.
        if (autonomousCommand != null) autonomousCommand.cancel();
    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        Scheduler.getInstance().run();
        if (oi.getJoystick1().getRawButton(1)){
        	pingPongBallCannon.wheelSpeed(.5);
        }
        if (!(oi.getJoystick1().getRawButton(1))){
        	pingPongBallCannon.wheelSpeed(0);
        }
        
        if (oi.getJoystick1().getRawButton(5)) {
        	pingPongBallCannon.pistonStart();
        }if (!(oi.getJoystick1().getRawButton(5))) {
        	pingPongBallCannon.pistonStop();
        }
        
        if (arcadeDrive != null){
        	System.out.println("teleopstarted");
        	arcadeDrive.start();
        	System.out.println("I shouldn't see this after I start.");
        }
    }

    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
        LiveWindow.run();
    }
}

@@ -3710,16 +3710,17 @@
 elSpeed(
+-
 .5);%0A   

Use correct direction for spinning motor