update

build.gradle

@@ -1,5 +1,5 @@
 buildscript {
-    ext.kotlin_version = '1.2.21'
+    ext.kotlin_version = '1.2.61'
     repositories {
         mavenCentral()
     }
@@ -60,5 +60,5 @@ jar {
 }
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '4.4'
+    gradleVersion = '4.9'
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Mon Feb 19 18:13:48 MST 2018
+#Tue Oct 30 10:33:50 MDT 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.9-all.zip

src/main/java/frc/team3405/robot/Xbox.kt

@@ -22,7 +22,7 @@ object Xbox {
     const val LeftY = 1
     const val LeftTrigger = 2
     const val RightTrigger = 3
-    const val RightX = 4
+    const val RightX = 3
     const val RightY = 2
 
     const val PovController = 0

src/main/java/frc/team3405/robot/subsystems/DriveTrain.kt

@@ -2,16 +2,17 @@ package frc.team3405.robot.subsystems
 
 import com.ctre.phoenix.motorcontrol.ControlMode
 import com.ctre.phoenix.motorcontrol.can.TalonSRX
+import edu.wpi.first.wpilibj.Talon
 import edu.wpi.first.wpilibj.command.Subsystem
 import frc.team3405.robot.Robot
 import frc.team3405.robot.Xbox
 import frc.team3405.robot.commands.DriveCommand
 
 class DriveTrain : Subsystem() {
-    private val Left1: TalonSRX = TalonSRX(0) //Right Bottom
-    private val Right1: TalonSRX = TalonSRX(1) //Left Top
-    private val Left2: TalonSRX = TalonSRX(2) //Left Bottom
-    private val Right2: TalonSRX = TalonSRX(3) //Right Top
+    private val Left1 = Talon(0) //Right Bottom
+//    private val Right1 = Talon(1) //Left Top
+//    private val Left2 = Talon(2) //Left Bottom
+//    private val Right2 = Talon(3) //Right Top
 
     override fun initDefaultCommand() {
         defaultCommand = DriveCommand()
@@ -24,11 +25,11 @@ class DriveTrain : Subsystem() {
         val left: Double = (y - x) * maxOutput
         val right: Double = (y + x) * maxOutput
 
-        Right1.set(ControlMode.PercentOutput, -right)
-        Right2.set(ControlMode.PercentOutput, -right)
+//        Right1.set(-right)
+//        Right2.set(-right)
 
-        Left1.set(ControlMode.PercentOutput, left)
-        Left2.set(ControlMode.PercentOutput, left)
+        Left1.set(left)
+//        Left2.set(left)
     }
 
     //For Eastmond
@@ -50,10 +51,10 @@ class DriveTrain : Subsystem() {
         val left: Double = leftY * maxOutput
         val right: Double = rightY * maxOutput
 
-        Left1.set(ControlMode.PercentOutput, left)
-        Left2.set(ControlMode.PercentOutput, left)
-        Right1.set(ControlMode.PercentOutput, -right)
-        Right2.set(ControlMode.PercentOutput, -right)
+        Left1.set(left)
+//        Left2.set(left)
+//        Right1.set(-right)
+//        Right2.set(-right)
 
     }
 }

src/main/java/frc/team3405/robot/subsystems/Launcher.kt

@@ -1,52 +1,53 @@
 package frc.team3405.robot.subsystems
 
-import com.ctre.phoenix.motorcontrol.ControlMode
-import com.ctre.phoenix.motorcontrol.can.TalonSRX
+import edu.wpi.first.wpilibj.Talon
 import edu.wpi.first.wpilibj.command.Subsystem
 import frc.team3405.robot.Robot
 import frc.team3405.robot.Xbox
 import frc.team3405.robot.commands.ShootCommand
 
 class Launcher : Subsystem() {
-    private val Feeder: TalonSRX = TalonSRX(4)
-    private val LeftLauncher: TalonSRX = TalonSRX(5)
-    private val RightLauncher: TalonSRX = TalonSRX(6)
+    private val feeder = Talon(4)
+    private val leftLauncher = Talon(7)
+    private val rightLauncher = Talon(6)
 
     override fun initDefaultCommand() {
         defaultCommand = ShootCommand()
     }
 
     fun arcadeDrive() {
-        val x = Robot.joystick.leftX
-        val y = Robot.joystick.leftY
+        val x = Robot.joystick.rightX
+        val y = Robot.joystick.rightY
         val maxOutput = .5
-        val feederSpeed = .2
+        val feederSpeed = 1.0
         val left: Double = (y - x) * maxOutput
         val right: Double = (y + x) * maxOutput
-        RightLauncher.set(ControlMode.PercentOutput, -right)
-        LeftLauncher.set(ControlMode.PercentOutput, left)
+        rightLauncher.set(-right)
+        leftLauncher.set(left)
         if(Robot.joystick.joystick.getRawButton(Xbox.RightLowerBumper)) {
-            Feeder.set(ControlMode.PercentOutput, feederSpeed)
+            println("Feed me!")
+            feeder.set(feederSpeed)
         } else {
-            Feeder.set(ControlMode.PercentOutput, 0.0)
+            feeder.set(0.0)
         }
     }
 
     //For Eastmond
     fun tankDrive() {
+        print("Tank drive")
         val maxOutput = .5
         val feederSpeed = .2
         if(Robot.joystick.joystick.getRawButton(Xbox.LeftLowerBumper)) {
-            RightLauncher.set(ControlMode.PercentOutput, maxOutput)
-            LeftLauncher.set(ControlMode.PercentOutput, maxOutput)
+            rightLauncher.set(maxOutput)
+            leftLauncher.set(maxOutput)
         } else {
-            RightLauncher.set(ControlMode.PercentOutput, 0.0)
-            LeftLauncher.set(ControlMode.PercentOutput, 0.0)
+            rightLauncher.set(0.0)
+            leftLauncher.set(0.0)
         }
         if(Robot.joystick.joystick.getRawButton(Xbox.RightLowerBumper)) {
-            Feeder.set(ControlMode.PercentOutput, feederSpeed)
+            feeder.set(feederSpeed)
         } else {
-            Feeder.set(ControlMode.PercentOutput, 0.0)
+            feeder.set(0.0)
         }
     }
 }