this is nelson's pull request but ready to merge

just fixed merge conflicts (plus like one change)

Author: Gabe-Mitnick

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -35,12 +35,15 @@ public class RobotMap {
 
 	public static PowerDistributionPanel pdp;
 
-	public static WPI_TalonSRX liftMotor;
+	public static WPI_VictorSPX liftMotorA;
+	public static WPI_TalonSRX liftMotorB;
+	public static WPI_TalonSRX liftMotorC;
+	public static SpeedControllerGroup liftMotors;
 	public static Encoder liftEnc;
 	public static DigitalSource liftEncPort1;
 	public static DigitalSource liftEncPort2;
 
-	public static WPI_TalonSRX climberMotor;
+	//public static WPI_TalonSRX climberMotor;
 
 	public static VictorSP leftIntakeMotor;
 	public static VictorSP rightIntakeMotor;
@@ -120,15 +123,18 @@ private void configSPX(WPI_VictorSPX mc) {
 
 	public RobotMap() {
 		pdp = new PowerDistributionPanel();
-
-		liftMotor = new WPI_TalonSRX(getPort("LiftTalonSRX", 7));
-		configSRX(liftMotor);
+		
+		liftMotorA = new WPI_VictorSPX(getPort("LiftVictorSPX", 5));
+		configSPX(liftMotorA);
+		liftMotorB = new WPI_TalonSRX(getPort("1LiftTalonSRX", 6));
+		configSRX(liftMotorB);
+		liftMotorC = new WPI_TalonSRX(getPort("2LiftTalonSRX", 7));
+		configSRX(liftMotorC);
+		liftMotors = new SpeedControllerGroup(liftMotorB, liftMotorA, liftMotorC);
 		liftEncPort1 = new DigitalInput(getPort("1LiftEnc", 4));
 		liftEncPort2 = new DigitalInput(getPort("2LiftEnc", 5));
 		liftEnc = new Encoder(liftEncPort1, liftEncPort2);
 		liftEnc.setPIDSourceType(PIDSourceType.kDisplacement);
-		climberMotor = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
-		configSRX(climberMotor);
 
 		leftIntakeMotor = new VictorSP(getPort("IntakeLeftVictorSP", 8));
 		rightIntakeMotor = new VictorSP(getPort("IntakeRightVictorSP", 9));

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/AutoLift.java

@@ -14,55 +14,40 @@
  */
 public class AutoLift extends Command implements PIDOutput{
 	/**
-	 * All distances are - 1 foot for initial height of intake and + 3 inches for wiggle room for dropping cubes
-	 * Also, acutal distances are divided by 3 because according to cad, the lift will have a 1:3 ratio from winch
+	 * All distances are measured from bottom of cube and + 3 inches for wiggle room for dropping cubes
+	 * Also, actual distances are divided by 3 because according to cad, the lift will have a 1:3 ratio from winch
 	 * to actual height.
 	 */
 
 	/**
 	 * Distance to switch
 	 * 18.75 inches in starting position (this measurement is the fence that surrounds the switch)
-	 * 9.75 / 3 for ratio = 3.25
+	 * 21.75 / 3 for ratio = 7.25
 	 */
-	private final double SWITCH_DIST = 3.25;
+	private final double SWITCH_DIST = 7.25;
 	/**
 	 * Distance to scale
 	 * 5 feet starting
-	 * 51 / 3 = 17
+	 * 63 / 3 = 21
 	 */
-	private final double SCALE_DIST = 17;
+	private final double SCALE_DIST = 21;
 	/**
 	 * Distance to bar
-	 * 72 / 3 = 24
+	 * 87 / 3 = 29
 	 * 7 feet starting; bar distance should be changed because I'm not aware how climber mech will be positioned
 	 */
-	private final double BAR_DIST = 24;
+	private final double BAR_DIST = 29;
 	private double desiredDist = 0;
-	private double currDist = 0;
+	private double currDist;
 	private LiftInterface lift;
 	private Position desiredPos;
 
 	private PIDController liftController;
 
     public AutoLift(Position stage, LiftInterface lift) {
-        // Use requires() here to declare subsystem dependencies
-        // eg. requires(chassis);
     	this.lift = lift;
     	requires(Robot.lift);
-    	switch(lift.getCurrPos()) {
-    	case GROUND:
-    		currDist = 0;
-    		break;
-    	case SWITCH:
-    		currDist = SWITCH_DIST;
-    		break;
-    	case SCALE:
-    		currDist = SCALE_DIST;
-    		break;
-    	case BAR:
-    		currDist = BAR_DIST;
-    		break;
-    	}
+    	currDist = lift.getHeight();
     	switch(stage) {
     	case GROUND:
     		desiredDist = -currDist;
@@ -86,7 +71,6 @@ public AutoLift(Position stage, LiftInterface lift) {
 
     // Called just before this Command runs the first time
     protected void initialize() {
-    	lift.resetEnc();
 		// input is in inches
 		//liftController.setInputRange(-Robot.getConst("Max High Speed", 204), Robot.getConst("Max High Speed", 204));
 		// output in "motor units" (arcade and tank only accept values [-1, 1]
@@ -104,7 +88,7 @@ protected void execute() {
     // Make this return true when this Command no longer needs to run execute()
     protected boolean isFinished() {
     	if(liftController.onTarget()) {
-    		lift.setTargetPosition(desiredPos);
+    		lift.setCurrPosition(desiredPos);
     		return true;
     	}
     	return false;

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Climber.java

@@ -11,7 +11,7 @@
  */
 public class Climber extends Subsystem implements ClimberInterface {
 
-	private final WPI_TalonSRX climberMotor = RobotMap.climberMotor;
+	//private final WPI_TalonSRX climberMotor = RobotMap.climberMotor;
 
 
 	/**
@@ -52,7 +52,7 @@ public void attachToBar() {
 	 * stops the climber
 	 */
 	public void stopClimber() {
-		climberMotor.stopMotor();
+		//climberMotor.stopMotor();
 	}
 
 

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Lift.java

@@ -1,84 +1,97 @@
 package org.usfirst.frc.team199.Robot2018.subsystems;
 
+import org.usfirst.frc.team199.Robot2018.Robot;
 import org.usfirst.frc.team199.Robot2018.RobotMap;
-import org.usfirst.frc.team199.Robot2018.subsystems.LiftInterface.Position;
-
-import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import org.usfirst.frc.team199.Robot2018.commands.AutoLift;
 
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.SpeedControllerGroup;
+import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class Lift extends Subsystem implements LiftInterface {
 
-	private final WPI_TalonSRX liftMotor = RobotMap.liftMotor;
+	private final SpeedControllerGroup liftMotors = RobotMap.liftMotors;
 	private final Encoder liftEnc = RobotMap.liftEnc;
-	private Position targetPosition = Position.GROUND;
-	
+	private Position currPosition = Position.GROUND;
+
 	/**
 	 * Set the default command for a subsystem here.
-	 * */
-    public void initDefaultCommand() {
-        // Set the default command for a subsystem here.
-        //setDefaultCommand(new MySpecialCommand());
-    }
-    
-    public void setTargetPosition(Position newPosition) {
-    		targetPosition = newPosition;
-    }
+	 */
+	public void initDefaultCommand() {
+		// Set the default command for a subsystem here.
+		// setDefaultCommand(new MySpecialCommand());
+		int angle = Robot.oi.manipulator.getPOV();
+
+		Command com = null;
+
+		if (angle == 0) {
+			com = new AutoLift(Position.GROUND, this);
+			setDefaultCommand(com);
+		} else if (angle == 90 || angle == 180 || angle == 270) {
+			com = new AutoLift(Position.SWITCH, this);
+			setDefaultCommand(com);
+		}
+	}
 
-    /**
-	 * Uses (insert sensor here) to detect the current lift position 
+	/**
+	 * Sets the current position in the lift subsystem
+	 * 
+	 * @param newPosition
+	 *            - the new position meant to be set
+	 */
+	public void setCurrPosition(Position newPosition) {
+		currPosition = newPosition;
+	}
+
+	/**
+	 * Uses (insert sensor here) to detect the current lift position
 	 */
 	public double getHeight() {
-		return -1;
+		return liftEnc.getDistance() * 3;
 	}
-	
+
 	/**
 	 * stops the lift
 	 */
 	public void stopLift() {
-		liftMotor.stopMotor();
+		liftMotors.stopMotor();
 	}
-	
+
 	/**
 	 * gets current motor values
 	 */
 	public double getLiftSpeed() {
-		return liftMotor.get();
-	}
-	
-	/**
-	 * Goes to specified height
-	 * @param position - ground, switch, scale, bar
-	 * @param offset - distance up or down from the position
-	 */
-	public void goToPosition(Position position, double offset) {
-		
+		return liftMotors.get();
 	}
+
 	/**
-	 * Runs lift motor at specified speed
-	 * @param speed - desired speed to run at
+	 * Runs lift motors at specified speed
+	 * 
+	 * @param speed
+	 *            - desired speed to run at
 	 */
 	public void runMotor(double output) {
-		liftMotor.set(output);
+		liftMotors.set(output);
 	}
-	
+
 	/**
 	 * Returns the position the lift is currently at
+	 * 
 	 * @return pos - current position
 	 */
 	public Position getCurrPos() {
-		return targetPosition;
+		return currPosition;
 	}
+
 	/**
 	 * Resets the encoder
 	 */
 	public void resetEnc() {
 		liftEnc.reset();
 	}
-	
-}
 
+}

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/LiftInterface.java

@@ -31,16 +31,8 @@ public enum Position {
 	 */
 	public double getLiftSpeed();
 
-	
-	/**
-	 * Goes to specified height
-	 * @param position - ground, switch, scale, bar
-	 * @param offset - distance up or down from position
-	 */
-	public void goToPosition(Position position, double offset);
-	
 	/**
-	 * Runs lift motor at specified speed
+	 * Runs lift motors at specified speed
 	 * @param speed - desired speed to run at
 	 */
 	public void runMotor(double speed);
@@ -60,5 +52,7 @@ public enum Position {
 	 * Sets the current position in the lift subsystem
 	 * @param newPosition - the new position meant to be set
 	 */
-	public void setTargetPosition(Position newPosition);
+	public void setCurrPosition(Position newPosition);
+	
+	
 }