Subsystem Checking

.project

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>frc_3452_2018_java_master</name>
+	<name>frc_3452_2018_JAVA</name>
 	<comment>Project f created by Buildship.</comment>
 	<projects>
 	</projects>

src/main/java/frc/robot/Constants.java

@@ -8,6 +8,11 @@
  */
 
 public class Constants {
+	public class kLoop {
+		public static final double LOOP_SPEED = .02;
+		public static final double ENCODER_CHECKER_SPEED = .1;
+	}
+
 	public class kAuton {
 		public static final int COMMAND_ARRAY_SIZE = 41;
 

src/main/java/frc/robot/util/GZLog.java → src/main/java/frc/robot/GZLog.java

@@ -1,10 +1,9 @@
-package frc.robot.util;
+package frc.robot;
 
 import java.util.ArrayList;
 
 import edu.wpi.first.wpilibj.RobotController;
-import frc.robot.Constants;
-import frc.robot.Robot;
+import frc.robot.util.Util;
 
 public class GZLog {
 
@@ -24,6 +23,15 @@ public void update() {
 			}
 		};
 
+		LogItem left_encoder_valid = new LogItem("L-ENC-PRSNT")
+		{
+			@Override
+			public void update()
+			{
+				this.mValue = Robot.drive.mIO.leftEncoderValid.toString();
+			}
+		};
+
 		LogItem right_speed = new LogItem("R-RPM")
 		{
 			@Override
@@ -33,6 +41,15 @@ public void update()
 			}
 		};
 
+		LogItem right_encoder_valid = new LogItem("R-ENC-PRSNT")
+		{
+			@Override
+			public void update()
+			{
+				this.mValue = Robot.drive.mIO.rightEncoderValid.toString();
+			}
+		};
+
 		LogItem l1_amp = new LogItem("L1-AMP")
 		{
 			@Override
@@ -217,6 +234,15 @@ public void update()
 			}
 		};
 
+		LogItem elev_encoder_present = new LogItem("ELEV-ENC-PRSNT")
+		{
+			@Override
+			public void update()
+			{
+				this.mValue = Robot.elevator.mIO.encoderValid.toString();
+			}
+		};
+
 		LogItem elev_rotations = new LogItem("ELEV-ROT"){
 			@Override
 			public void update()

src/main/java/frc/robot/Robot.java

@@ -43,17 +43,18 @@ public class Robot extends TimedRobot {
 	@Override
 	public void robotInit() {
 		allSubsystems.construct();
+
 		files.fillLogger();
 		auton.fillAutonArray();
-		health.generateHealth();
 
-		// TODO ISSUE #14
+		// allSubsystems.startLooping();
+
+		health.generateHealth();
 	}
 
 	@Override
 	public void robotPeriodic() {
 		allSubsystems.loop();
-
 	}
 
 	@Override

src/main/java/frc/robot/subsystems/Climber.java

@@ -1,12 +1,11 @@
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj.Spark;
 import frc.robot.Constants.kClimber;
 import frc.robot.Constants.kPDP;
 import frc.robot.Robot;
 import frc.robot.util.GZSubsystem;
 
-import edu.wpi.first.wpilibj.Spark;
-
 public class Climber extends GZSubsystem {
 
 	private Spark climber_1;
@@ -20,12 +19,11 @@ public class Climber extends GZSubsystem {
 	// Construction
 	public Climber() {
 	}
-
-	public synchronized void construct()
-	{
+
+	public synchronized void construct() {
 		climber_1 = new Spark(kClimber.CLIMBER_1);
 		climber_1.setInverted(kClimber.CLIMBER_1_INVERT);
-		
+
 		climber_1.setSubsystem(Climber.class.getName());
 		climber_1.setName("climber_1");
 	}
@@ -57,21 +55,6 @@ public synchronized void loop() {
 		handleStates();
 		in();
 		out();
-
-		switch (mState) {
-
-		case MANUAL:
-			mIO.climber_output = mIO.climber_desired_output;
-			break;
-
-		case NEUTRAL:
-			mIO.climber_output = 0;
-			break;
-
-		default:
-			System.out.println("WARNING: Incorrect climber state " + mState + " reached.");
-			break;
-		}
 	}
 
 	public static class IO {
@@ -84,13 +67,12 @@ public static class IO {
 		public Double climber_desired_output = 0.0;
 	}
 
-	public void runClimber(double percentage)
-	{
+	public void runClimber(double percentage) {
 		if (climbCounter > 3)
 			manual(percentage);
 		else
 			stop();
-			
+
 	}
 
 	private void manual(double percentage) {
@@ -106,11 +88,26 @@ protected synchronized void in() {
 
 	@Override
 	protected synchronized void out() {
+
+		switch (mState) {
+
+		case MANUAL:
+			mIO.climber_output = mIO.climber_desired_output;
+			break;
+
+		case NEUTRAL:
+			mIO.climber_output = 0;
+			break;
+
+		default:
+			System.out.println("WARNING: Incorrect climber state " + mState + " reached.");
+			break;
+		}
 		climber_1.set(Math.abs(mIO.climber_output));
 	}
 
 	public enum ClimberState {
-		NEUTRAL, MANUAL,
+		NEUTRAL, MANUAL;
 	}
 
 	@Override
@@ -121,33 +118,30 @@ public synchronized void stop() {
 	public synchronized void setWantedState(ClimberState wantedState) {
 		this.mWantedState = wantedState;
 	}
-
-	public synchronized void checkHealth()
-	{
-
-	}
 
-	private synchronized void handleStates() {
-
-		//if trying to disable or run demo mode while not connected to field
-		if (((this.isDisabed() || Robot.auton.isDemo()) && !Robot.gzOI.isFMS())
-				|| mWantedState == ClimberState.NEUTRAL) {
-
-			if (stateNot(ClimberState.NEUTRAL)) {
-				onStateExit(mState);
-				mState = ClimberState.NEUTRAL;
-				onStateStart(mState);
-			}
-
-		} else if (mState != mWantedState) {
+	private void switchToState(ClimberState s) {
+		if (mState != s) {
 			onStateExit(mState);
-			mState = mWantedState;
+			mState = s;
 			onStateStart(mState);
 		}
 	}
 
-	private synchronized boolean stateNot(ClimberState state) {
-		return mState != state;
+	private synchronized void handleStates() {
+		boolean neutral = false;
+		neutral |= (this.isDisabed() || Robot.auton.isDemo()) && !Robot.gzOI.isFMS();
+		neutral |= mWantedState == ClimberState.NEUTRAL;
+
+		// if trying to disable or run demo mode while not connected to field
+		if (neutral) {
+
+			switchToState(ClimberState.NEUTRAL);
+
+		} else {
+
+			switchToState(mWantedState);
+
+		}
 	}
 
 	public String getStateString() {