Updates from comps

build.gradle

@@ -1,7 +1,7 @@
 plugins {
     id "cpp"
     id "google-test-test-suite"
-    id "edu.wpi.first.GradleRIO" version "2019.4.1"
+    id "edu.wpi.first.GradleRIO" version "2019.3.2"
 }
 
 // Define my targets (RoboRIO) and artifacts (deployable files)

src/main/cpp/Robot.cpp

@@ -1,27 +1,41 @@
 #include "Robot.h"
+#include <iostream>
 
 void Robot::RobotPeriodic() 
 {
 
   //Toggle between the two cameras
   if(cameraToggle && controller.GetRawButton(1)) {
     camServer.SetSource(camFront);
+    cameraToggle = !cameraToggle;
   }
   if(!cameraToggle && controller.GetRawButton(1)) {
     camServer.SetSource(camRear);
+    cameraToggle = !cameraToggle;
   }
 }
 
+void Robot::AutonomousPeriodic() {
+  PlayerControl();
+}
 void Robot::TeleopPeriodic()
 {
+  PlayerControl();
+}
+
+void Robot::PlayerControl() {
   // Drive with arcade style controls
-  diffDrive.ArcadeDrive(controller.GetY(), controller.GetX());
+  if(controller.GetRawAxis(5) > speed) {
+  speed = speed + controller.GetRawAxis(5)/16;
+  } else if(controller.GetRawAxis(5) < speed) {
+    speed = speed - controller.GetRawAxis(5)/16;
+  }
+  diffDrive.ArcadeDrive(-speed, controller.GetRawAxis(4) * .8);
 
   //"Intake mode" that allows the user to set the intake running constantly until a ball is caught
-  if (controller.GetRawButton(9) && !(controller.GetRawAxis(2) > 0))
+  if (controller.GetRawButton(9) && (controller.GetRawAxis(2) == 0))
   {
-    intakeMode = true;
-    cargoMotor.Set(.25);
+    cargoMotor.Set(.2);
   }
   if (controller.GetRawAxis(2) > 0)
   {

src/main/include/Robot.h

@@ -23,6 +23,8 @@ class Robot : public frc::TimedRobot
     //As these are the only two classes we utilize they are the only two overridden
     void RobotPeriodic() override;
     void TeleopPeriodic() override;
+    void AutonomousPeriodic() override;
+    void PlayerControl();
 
     private:
     //A single Xbox controller
@@ -33,8 +35,8 @@ class Robot : public frc::TimedRobot
     frc::Spark rightMotor{1};
     frc::DifferentialDrive diffDrive{leftMotor, rightMotor};
 
-    //Intake for "carog"
-    frc::Spark cargoMotor{2};
+    //Intake for "cargo"
+    frc::Spark cargoMotor{3};
 
     //Cameras used for viewing at the Driver station
     //Sink is used to switch between cameras and (hopefully) save on bandwidth and latency
@@ -46,5 +48,6 @@ class Robot : public frc::TimedRobot
     //Msc variables
     bool intakeMode = false;
     bool cameraToggle = 0;
+    double speed = 0;
 
 };