Added Mecanum drive sample program

Change-Id: I0538c21116cd6c8836f76b6d4446b83d8723a20f

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/MecanumDrive/src/Robot.cpp

@@ -0,0 +1,49 @@
+#include "WPILib.h"
+
+/**
+ * This is a demo program showing how to use Mecanum control with the RobotDrive class.
+ */
+class Robot: public SampleRobot
+{
+
+    // Channels for the wheels
+    const static int frontLeftChannel	= 2;
+    const static int rearLeftChannel	= 3;
+    const static int frontRightChannel	= 1;
+    const static int rearRightChannel	= 0;
+
+    const static int joystickChannel	= 0;
+
+	RobotDrive robotDrive;	// robot drive system
+	Joystick stick;			// only joystick
+
+public:
+	Robot() :
+			robotDrive(frontLeftChannel, rearLeftChannel,
+					   frontRightChannel, rearRightChannel),	// these must be initialized in the same order
+			stick(joystickChannel)								// as they are declared above.
+	{
+		robotDrive.SetExpiration(0.1);
+		robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);	// invert the left side motors
+		robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);	// you may need to change or remove this to match your robot
+	}
+
+	/**
+	 * Runs the motors with Mecanum drive.
+	 */
+	void OperatorControl()
+	{
+		robotDrive.SetSafetyEnabled(false);
+		while (IsOperatorControl())
+		{
+        	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
+        	// This sample does not use field-oriented drive, so the gyro input is set to zero.
+			robotDrive.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetZ());
+
+			Wait(0.005); // wait 5ms to avoid hogging CPU cycles
+		}
+	}
+
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml

@@ -105,6 +105,24 @@
   </example>
 
 
+<example>
+  <name>Mecanum Drive</name>
+  <description>An example program which the use of Mecanum Drive with the RobotDrive class</description>
+  <tags>
+    <tag>Getting Started with C++</tag>
+    <tag>Robot and Motor</tag>
+    <tag>Joystick</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/MecanumDrive/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+  </example>
+
+
   <example>
   <name>Getting Started</name>
   <description>An example program which demonstrates the simplest autonomous and

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java

@@ -0,0 +1,53 @@
+
+package org.usfirst.frc.team190.robot;
+
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.RobotDrive.MotorType;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing how to use Mecanum control with the RobotDrive class.
+ */
+public class Robot extends SampleRobot {
+	
+    RobotDrive robotDrive;
+    Joystick stick;
+
+    // Channels for the wheels
+    final int frontLeftChannel	= 2;
+    final int rearLeftChannel	= 3;
+    final int frontRightChannel	= 1;
+    final int rearRightChannel	= 0;
+    
+    // The channel on the driver station that the joystick is connected to
+    final int joystickChannel	= 0;
+
+    public Robot() {
+    	robotDrive.setExpiration(0.1);
+        robotDrive = new RobotDrive(frontLeftChannel, rearLeftChannel, frontRightChannel, rearRightChannel);
+    	robotDrive.setInvertedMotor(MotorType.kFrontLeft, true);	// invert the left side motors
+    	robotDrive.setInvertedMotor(MotorType.kRearLeft, true);		// you may need to change or remove this to match your robot
+
+        stick = new Joystick(joystickChannel);
+    }
+        
+
+    /**
+     * Runs the motors with Mecanum drive.
+     */
+    public void operatorControl() {
+        robotDrive.setSafetyEnabled(true);
+        while (isOperatorControl()) {
+        	
+        	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
+        	// This sample does not use field-oriented drive, so the gyro input is set to zero.
+            robotDrive.mecanumDrive_Cartesian(stick.getX(), stick.getY(), stick.getZ(), 0);
+            
+            Timer.delay(0.005);	// wait 5ms to avoid hogging CPU cycles
+        }
+    }
+    
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml

@@ -116,6 +116,25 @@
   </files>
   </example>
 
+ <example>
+  <name>Mecanum Drive</name>
+  <description>Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Joystick</tag>
+    <tag>Robot and Motor</tag>
+    <tag>Safety</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/MecanumDrive/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
 
  <example>
   <name>Motor Controller</name>