Added PacGoat code for C++.

Change-Id: I4fd19fbdc65c25c5bbcdce937a31bc6fa1c11cb4

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

@@ -152,8 +152,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 									<listOptionValue builtIn="false" value="$cpp-location/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
-									<listOptionValue builtIn="false" value="/usr/include/gazebo-2.2"/>
-									<listOptionValue builtIn="false" value="/usr/include/sdformat-1.4"/>
+									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.0"/>
+									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.937474733" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CheckForHotGoal.cpp

@@ -0,0 +1,25 @@
+#include "CheckForHotGoal.h"
+
+#include "Robot.h"
+
+CheckForHotGoal::CheckForHotGoal(double time) {
+	SetTimeout(time);
+}
+
+// Called just before this Command runs the first time
+void CheckForHotGoal::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void CheckForHotGoal::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool CheckForHotGoal::IsFinished() {
+	return IsTimedOut() || Robot::shooter->GoalIsHot();
+}
+
+// Called once after isFinished returns true
+void CheckForHotGoal::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void CheckForHotGoal::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CheckForHotGoal.h

@@ -0,0 +1,22 @@
+#ifndef CheckForHotGoal_H
+#define CheckForHotGoal_H
+
+#include "WPILib.h"
+
+/**
+ * This command looks for the hot goal and waits until it's detected or timed
+ * out. The timeout is because it's better to shoot and get some autonomous
+ * points than get none. When called sequentially, this command will block until
+ * the hot goal is detected or until it is timed out.
+ */
+class CheckForHotGoal : Command {
+public:
+	CheckForHotGoal(double time);
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CloseClaw.cpp

@@ -0,0 +1,27 @@
+#include "CloseClaw.h"
+
+#include "Robot.h"
+
+CloseClaw::CloseClaw() {
+	Requires(Robot::collector);
+}
+
+// Called just before this Command runs the first time
+void CloseClaw::Initialize() {
+	Robot::collector->Close();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void CloseClaw::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool CloseClaw::IsFinished() {
+	return true;
+}
+
+// Called once after isFinished returns true
+void CloseClaw::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void CloseClaw::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CloseClaw.h

@@ -0,0 +1,22 @@
+#ifndef CloseClaw_H
+#define CloseClaw_H
+
+#include "WPILib.h"
+
+/**
+ * Close the claw.
+ *
+ * NOTE: It doesn't wait for the claw to close since there is no sensor to
+ * detect that.
+ */
+class CloseClaw: public Command {
+public:
+	CloseClaw();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/Collect.cpp

@@ -0,0 +1,14 @@
+#include "Collect.h"
+
+#include "Robot.h"
+#include "Commands/SetCollectionSpeed.h"
+#include "Commands/CloseClaw.h"
+#include "Commands/SetPivotSetpoint.h"
+#include "Commands/WaitForBall.h"
+
+Collect::Collect() {
+	AddSequential(new SetCollectionSpeed(Collector::FORWARD));
+	AddParallel(new CloseClaw());
+	AddSequential(new SetPivotSetpoint(Pivot::COLLECT));
+	AddSequential(new WaitForBall());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/Collect.h

@@ -0,0 +1,14 @@
+#ifndef Collect_H
+#define Collect_H
+
+#include "WPILib.h"
+
+/**
+ * Get the robot set to collect balls.
+ */
+class Collect: public CommandGroup {
+public:
+	Collect();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp

@@ -0,0 +1,20 @@
+#include "DriveAndShootAutonomous.h"
+
+#include "Robot.h"
+#include "Commands/WaitForPressure.h"
+#include "Commands/CloseClaw.h"
+#include "Commands/SetPivotSetpoint.h"
+#include "Commands/DriveForward.h"
+#include "Commands/Shoot.h"
+
+DriveAndShootAutonomous::DriveAndShootAutonomous() {
+    AddSequential(new WaitForPressure(), 2);
+ 	#ifdef REAL
+    	// NOTE: Simulation doesn't currently have the concept of hot.
+    	AddSequential(new CheckForHotGoal(2));
+	#endif
+    AddSequential(new CloseClaw());
+    AddSequential(new SetPivotSetpoint(45));
+    AddSequential(new DriveForward(8, 0.4));
+    AddSequential(new Shoot());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.h

@@ -0,0 +1,15 @@
+#ifndef DriveAndShootAutonomous_H
+#define DriveAndShootAutonomous_H
+
+#include "WPILib.h"
+
+/**
+ * Drive over the line and then shoot the ball. If the hot goal is not detected,
+ * it will wait briefly.
+ */
+class DriveAndShootAutonomous: public CommandGroup {
+public:
+	DriveAndShootAutonomous();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveForward.cpp

@@ -0,0 +1,55 @@
+#include "DriveForward.h"
+
+#include "Robot.h"
+
+void DriveForward::init(double dist, double maxSpeed) {
+	Requires(Robot::drivetrain);
+	distance = dist;
+	driveForwardSpeed = maxSpeed;
+	error = 0;
+}
+
+DriveForward::DriveForward() {
+	init(10, 0.5);
+}
+
+DriveForward::DriveForward(double dist) {
+	init(dist, 0.5);
+}
+
+DriveForward::DriveForward(double dist, double maxSpeed) {
+	init(dist, maxSpeed);
+}
+
+// Called just before this Command runs the first time
+void DriveForward::Initialize() {
+	Robot::drivetrain->GetRightEncoder()->Reset();
+	SetTimeout(2);
+}
+
+// Called repeatedly when this Command is scheduled to run
+void DriveForward::Execute() {
+	error = (distance - Robot::drivetrain->GetRightEncoder()->GetDistance());
+	if (driveForwardSpeed * KP * error >= driveForwardSpeed) {
+		Robot::drivetrain->TankDrive(driveForwardSpeed, driveForwardSpeed);
+	} else {
+		Robot::drivetrain->TankDrive(driveForwardSpeed * KP * error,
+				driveForwardSpeed * KP * error);
+	}
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool DriveForward::IsFinished() {
+	return (abs(error) <= TOLERANCE) || IsTimedOut();
+}
+
+// Called once after isFinished returns true
+void DriveForward::End() {
+	Robot::drivetrain->Stop();
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void DriveForward::Interrupted() {
+	End();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveForward.h

@@ -0,0 +1,29 @@
+#ifndef DriveForward_H
+#define DriveForward_H
+
+#include "WPILib.h"
+
+/**
+ * This command drives the robot over a given distance with simple proportional
+ * control This command will drive a given distance limiting to a maximum speed.
+ */
+class DriveForward: public Command {
+private:
+	double driveForwardSpeed;
+	double distance;
+	double error;
+	static const double TOLERANCE = .1;
+	static const double KP = -1.0 / 5.0;
+	void init(double dist, double maxSpeed);
+public:
+	DriveForward();
+	DriveForward(double dist);
+	DriveForward(double dist, double maxSpeed);
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveWithJoystick.cpp

@@ -0,0 +1,31 @@
+#include "DriveWithJoystick.h"
+
+#include "Robot.h"
+
+DriveWithJoystick::DriveWithJoystick() {
+	Requires(Robot::drivetrain);
+}
+
+// Called just before this Command runs the first time
+void DriveWithJoystick::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void DriveWithJoystick::Execute() {
+	Robot::drivetrain->TankDrive(Robot::oi->GetJoystick());
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool DriveWithJoystick::IsFinished() {
+	return false;
+}
+
+// Called once after isFinished returns true
+void DriveWithJoystick::End() {
+	Robot::drivetrain->Stop();
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void DriveWithJoystick::Interrupted() {
+	End();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveWithJoystick.h

@@ -0,0 +1,20 @@
+#ifndef DriveWithJoystick_H
+#define DriveWithJoystick_H
+
+#include "WPILib.h"
+
+/**
+ * This command allows PS3 joystick to drive the robot. It is always running
+ * except when interrupted by another command.
+ */
+class DriveWithJoystick: public Command {
+public:
+	DriveWithJoystick();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/ExtendShooter.cpp

@@ -0,0 +1,32 @@
+#include "ExtendShooter.h"
+
+#include "Robot.h"
+
+ExtendShooter::ExtendShooter() {
+	Requires(Robot::shooter);
+	SetTimeout(1);
+}
+
+// Called just before this Command runs the first time
+void ExtendShooter::Initialize() {
+	Robot::shooter->ExtendBoth();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void ExtendShooter::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool ExtendShooter::IsFinished() {
+	return IsTimedOut();
+}
+
+// Called once after isFinished returns true
+void ExtendShooter::End() {
+	Robot::shooter->RetractBoth();
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void ExtendShooter::Interrupted() {
+	End();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/ExtendShooter.h

@@ -0,0 +1,19 @@
+#ifndef ExtendShooter_H
+#define ExtendShooter_H
+
+#include "WPILib.h"
+
+/**
+ * Extend the shooter and then retract it after a second.
+ */
+class ExtendShooter: public Command {
+public:
+	ExtendShooter();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/LowGoal.cpp

@@ -0,0 +1,12 @@
+#include "LowGoal.h"
+
+#include "Robot.h"
+#include "Commands/SetPivotSetpoint.h"
+#include "Commands/SetCollectionSpeed.h"
+#include "Commands/ExtendShooter.h"
+
+LowGoal::LowGoal() {
+	AddSequential(new SetPivotSetpoint(Pivot::LOW_GOAL));
+	AddSequential(new SetCollectionSpeed(Collector::REVERSE));
+	AddSequential(new ExtendShooter());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/LowGoal.h

@@ -0,0 +1,14 @@
+#ifndef LowGoal_H
+#define LowGoal_H
+
+#include "WPILib.h"
+
+/**
+ * Spit the ball out into the low goal assuming that the robot is in front of it.
+ */
+class LowGoal: public CommandGroup {
+public:
+	LowGoal();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/OpenClaw.cpp

@@ -0,0 +1,27 @@
+#include "OpenClaw.h"
+
+#include "Robot.h"
+
+OpenClaw::OpenClaw() {
+	Requires(Robot::collector);
+}
+
+// Called just before this Command runs the first time
+void OpenClaw::Initialize() {
+	Robot::collector->Open();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void OpenClaw::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool OpenClaw::IsFinished() {
+	return Robot::collector->IsOpen();
+}
+
+// Called once after isFinished returns true
+void OpenClaw::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void OpenClaw::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/OpenClaw.h

@@ -0,0 +1,19 @@
+#ifndef OpenClaw_H
+#define OpenClaw_H
+
+#include "WPILib.h"
+
+/**
+ * Opens the claw
+ */
+class OpenClaw: public Command {
+public:
+	OpenClaw();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/SetCollectionSpeed.cpp

@@ -0,0 +1,28 @@
+#include "SetCollectionSpeed.h"
+
+#include "Robot.h"
+
+SetCollectionSpeed::SetCollectionSpeed(double speed) {
+	Requires(Robot::collector);
+	this->speed = speed;
+}
+
+// Called just before this Command runs the first time
+void SetCollectionSpeed::Initialize() {
+	Robot::collector->SetSpeed(speed);
+}
+
+// Called repeatedly when this Command is scheduled to run
+void SetCollectionSpeed::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool SetCollectionSpeed::IsFinished() {
+	return true;
+}
+
+// Called once after isFinished returns true
+void SetCollectionSpeed::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void SetCollectionSpeed::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/SetCollectionSpeed.h

@@ -0,0 +1,23 @@
+#ifndef SetCollectionSpeed_H
+#define SetCollectionSpeed_H
+
+#include "WPILib.h"
+
+/**
+ * This command sets the collector rollers spinning at the given speed. Since
+ * there is no sensor for detecting speed, it finishes immediately. As a result,
+ * the spinners may still be adjusting their speed.
+ */
+class SetCollectionSpeed: public Command {
+private:
+	double speed;
+public:
+	SetCollectionSpeed(double speed);
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/SetPivotSetpoint.cpp

@@ -0,0 +1,30 @@
+#include "SetPivotSetpoint.h"
+
+#include "Robot.h"
+
+SetPivotSetpoint::SetPivotSetpoint(double setpoint) {
+	this->setpoint = setpoint;
+	Requires(Robot::pivot);
+}
+
+// Called just before this Command runs the first time
+void SetPivotSetpoint::Initialize() {
+	Robot::pivot->Enable();
+	Robot::pivot->SetSetpoint(setpoint);
+}
+
+// Called repeatedly when this Command is scheduled to run
+void SetPivotSetpoint::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool SetPivotSetpoint::IsFinished()
+{
+	return Robot::pivot->OnTarget();
+}
+
+// Called once after isFinished returns true
+void SetPivotSetpoint::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void SetPivotSetpoint::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/SetPivotSetpoint.h

@@ -0,0 +1,24 @@
+#ifndef SetPivotSetpoint_H
+#define SetPivotSetpoint_H
+
+#include "WPILib.h"
+
+/**
+ * Moves the  pivot to a given angle. This command finishes when it is within
+ * the tolerance, but leaves the PID loop running to maintain the position.
+ * Other commands using the pivot should make sure they disable PID!
+ */
+class SetPivotSetpoint: public Command {
+public:
+	SetPivotSetpoint(double setpoint);
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+
+private:
+	double setpoint;
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/Shoot.cpp

@@ -0,0 +1,14 @@
+#include "Shoot.h"
+
+#include "Robot.h"
+#include "Commands/WaitForPressure.h"
+#include "Commands/SetCollectionSpeed.h"
+#include "Commands/OpenClaw.h"
+#include "Commands/ExtendShooter.h"
+
+Shoot::Shoot() {
+	AddSequential(new WaitForPressure());
+	AddSequential(new SetCollectionSpeed(Collector::STOP));
+	AddSequential(new OpenClaw());
+	AddSequential(new ExtendShooter());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/Shoot.h

@@ -0,0 +1,14 @@
+#ifndef Shoot_H
+#define Shoot_H
+
+#include "WPILib.h"
+
+/**
+ * Shoot the ball at the current angle.
+ */
+class Shoot: public CommandGroup {
+public:
+	Shoot();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/WaitForBall.cpp

@@ -0,0 +1,26 @@
+#include "WaitForBall.h"
+
+#include "Robot.h"
+
+WaitForBall::WaitForBall() {
+	Requires(Robot::collector);
+}
+
+// Called just before this Command runs the first time
+void WaitForBall::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void WaitForBall::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool WaitForBall::IsFinished()
+{
+	return Robot::collector->HasBall();
+}
+
+// Called once after isFinished returns true
+void WaitForBall::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void WaitForBall::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/WaitForBall.h

@@ -0,0 +1,21 @@
+#ifndef WaitForBall_H
+#define WaitForBall_H
+
+#include "WPILib.h"
+
+/**
+ * Wait until the collector senses that it has the ball. This command does
+ * nothing and is intended to be used in command groups to wait for this
+ * condition.
+ */
+class WaitForBall: public Command {
+public:
+	WaitForBall();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/WaitForPressure.cpp

@@ -0,0 +1,27 @@
+#include "WaitForPressure.h"
+
+#include "Robot.h"
+
+WaitForPressure::WaitForPressure()
+{
+	Requires(Robot::pneumatics);
+}
+
+// Called just before this Command runs the first time
+void WaitForPressure::Initialize() {}
+
+// Called repeatedly when this Command is scheduled to run
+void WaitForPressure::Execute() {}
+
+// Make this return true when this Command no longer needs to run execute()
+bool WaitForPressure::IsFinished()
+{
+	return Robot::pneumatics->IsPressurized();
+}
+
+// Called once after isFinished returns true
+void WaitForPressure::End() {}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void WaitForPressure::Interrupted() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/WaitForPressure.h

@@ -0,0 +1,20 @@
+#ifndef WaitForPressure_H
+#define WaitForPressure_H
+
+#include "WPILib.h"
+
+/**
+ * Wait until the pneumatics are fully pressurized. This command does nothing
+ * and is intended to be used in command groups to wait for this condition.
+ */
+class WaitForPressure: public Command {
+public:
+	WaitForPressure();
+	void Initialize();
+	void Execute();
+	bool IsFinished();
+	void End();
+	void Interrupted();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/OI.cpp

@@ -0,0 +1,40 @@
+#include "OI.h"
+
+#include "Subsystems/Pivot.h"
+#include "Subsystems/Collector.h"
+#include "Commands/LowGoal.h"
+#include "Commands/Collect.h"
+#include "Commands/SetPivotSetpoint.h"
+#include "Commands/Shoot.h"
+#include "Commands/DriveForward.h"
+#include "Commands/SetCollectionSpeed.h"
+
+OI::OI() {
+	joystick = new Joystick(1);
+
+	R1 = new JoystickButton(joystick, 12);
+	R1->WhenPressed(new LowGoal());
+	R2 = new JoystickButton(joystick, 10);
+	R2->WhenPressed(new Collect());
+
+	L1 = new JoystickButton(joystick, 11);
+	L1->WhenPressed(new SetPivotSetpoint(Pivot::SHOOT));
+	L2 = new JoystickButton(joystick, 9);
+	L2->WhenPressed(new SetPivotSetpoint(Pivot::SHOOT_NEAR));
+
+	sticks = new DoubleButton(joystick, 2, 3);
+	sticks->WhenActive(new Shoot());
+
+
+	// SmartDashboard Buttons
+	SmartDashboard::PutData("Drive Forward", new DriveForward(2.25));
+	SmartDashboard::PutData("Drive Backward", new DriveForward(-2.25));
+	SmartDashboard::PutData("Start Rollers", new SetCollectionSpeed(Collector::FORWARD));
+	SmartDashboard::PutData("Stop Rollers", new SetCollectionSpeed(Collector::STOP));
+	SmartDashboard::PutData("Reverse Rollers", new SetCollectionSpeed(Collector::REVERSE));
+}
+
+
+Joystick* OI::GetJoystick() {
+	return joystick;
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/OI.h

@@ -0,0 +1,17 @@
+#ifndef OI_H
+#define OI_H
+
+#include "WPILib.h"
+#include "Triggers/DoubleButton.h"
+
+class OI {
+private:
+	Joystick* joystick;
+	JoystickButton *L1, *L2, *R1, *R2;
+	DoubleButton* sticks;
+public:
+	OI();
+	Joystick* GetJoystick();
+};
+
+#endif

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

@@ -0,0 +1,90 @@
+
+#include "Robot.h"
+#include "Commands/DriveAndShootAutonomous.h"
+#include "Commands/DriveForward.h"
+
+DriveTrain* Robot::drivetrain = NULL;
+Pivot* Robot::pivot = NULL;
+Collector* Robot::collector = NULL;
+Shooter* Robot::shooter = NULL;
+Pneumatics* Robot::pneumatics = NULL;
+
+OI* Robot::oi = NULL;
+
+void Robot::RobotInit() {
+	drivetrain = new DriveTrain();
+	pivot = new Pivot();
+	collector = new Collector();
+	shooter = new Shooter();
+	pneumatics = new Pneumatics();
+
+    // Show what command your subsystem is running on the SmartDashboard
+    SmartDashboard::PutData(drivetrain);
+    SmartDashboard::PutData(pivot);
+    SmartDashboard::PutData(collector);
+    SmartDashboard::PutData(shooter);
+    SmartDashboard::PutData(pneumatics);
+
+	oi = new OI();
+
+	autonomousCommand = new DriveAndShootAutonomous();
+	lw = LiveWindow::GetInstance();
+
+	// instantiate the command used for the autonomous period
+	autoChooser = new SendableChooser();
+	autoChooser->AddDefault("Drive and Shoot", new DriveAndShootAutonomous());
+	autoChooser->AddObject("Drive Forward", new DriveForward());
+	SmartDashboard::PutData("Auto Mode", autoChooser);
+
+	pneumatics->Start(); // Pressurize the pneumatics.
+}
+
+void Robot::AutonomousInit() {
+	autonomousCommand = (Command*) autoChooser->GetSelected();
+	autonomousCommand->Start();
+}
+
+void Robot::AutonomousPeriodic() {
+	Scheduler::GetInstance()->Run();
+	Log();
+}
+
+void Robot::TeleopInit() {
+	// This makes sure that the autonomous stops running when
+	// teleop starts running. If you want the autonomous to
+	// continue until interrupted by another command, remove
+	// this line or comment it out.
+	if (autonomousCommand != NULL) {
+		autonomousCommand->Cancel();
+	}
+	std::cout << "Starting Teleop" << std::endl;
+}
+
+void Robot::TeleopPeriodic() {
+	Scheduler::GetInstance()->Run();
+	Log();
+}
+
+void Robot::TestPeriodic() {
+	lw->Run();
+}
+
+void Robot::DisabledInit() {
+	shooter->Unlatch();
+}
+
+void Robot::DisabledPeriodic() {
+	Log();
+}
+
+/**
+ * Log interesting values to the SmartDashboard.
+ */
+void Robot::Log() {
+	Robot::pneumatics->WritePressure();
+	SmartDashboard::PutNumber("Pivot Pot Value", pivot->GetAngle());
+	SmartDashboard::PutNumber("Left Distance", drivetrain->GetLeftEncoder()->GetDistance());
+	SmartDashboard::PutNumber("Right Distance", drivetrain->GetRightEncoder()->GetDistance());
+}
+
+START_ROBOT_CLASS(Robot);

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

@@ -0,0 +1,48 @@
+/*
+ * Robot.h
+ *
+ *  Created on: Jun 3, 2014
+ *      Author: alex
+ */
+
+#ifndef MY_ROBOT_H_
+#define MY_ROBOT_H_
+
+#include "WPILib.h"
+#include "Commands/Command.h"
+
+#include "Subsystems/DriveTrain.h"
+#include "Subsystems/Pivot.h"
+#include "Subsystems/Collector.h"
+#include "Subsystems/Shooter.h"
+#include "Subsystems/Pneumatics.h"
+#include "OI.h"
+
+class Robot: public IterativeRobot {
+public:
+	static DriveTrain* drivetrain;
+	static Pivot* pivot;
+	static Collector* collector;
+	static Shooter* shooter;
+	static Pneumatics* pneumatics;
+	static OI* oi;
+
+private:
+	Command *autonomousCommand;
+	LiveWindow *lw;
+	SendableChooser* autoChooser;
+
+	void RobotInit();
+	void AutonomousInit();
+	void AutonomousPeriodic();
+	void TeleopInit();
+	void TeleopPeriodic();
+	void TestPeriodic();
+	void DisabledInit();
+	void DisabledPeriodic();
+
+	void Log();
+};
+
+
+#endif /* ROBOT_H_ */

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.cpp

@@ -0,0 +1,43 @@
+#include "Collector.h"
+
+Collector::Collector() :
+		Subsystem("Collector")
+{
+	// Configure devices
+	rollerMotor = new Victor(1, 6);
+	ballDetector = new DigitalInput(1, 10);
+	openDetector = new DigitalInput(1, 6);
+	piston = new Solenoid(1, 1);
+
+	// Put everything to the LiveWindow for testing.
+	// XXX: LiveWindow::GetInstance()->AddActuator("Collector", "Roller Motor", (Victor) rollerMotor);
+	LiveWindow::GetInstance()->AddSensor("Collector", "Ball Detector", ballDetector);
+	LiveWindow::GetInstance()->AddSensor("Collector", "Claw Open Detector", openDetector);
+	LiveWindow::GetInstance()->AddActuator("Collector", "Piston", piston);
+}
+
+bool Collector::HasBall() {
+	return ballDetector->Get(); // TODO: prepend ! to reflect real robot
+}
+
+void Collector::SetSpeed(double speed) {
+	rollerMotor->Set(-speed);
+}
+
+void Collector::Stop() {
+	rollerMotor->Set(0);
+}
+
+bool Collector::IsOpen() {
+	return openDetector->Get(); // TODO: prepend ! to reflect real robot
+}
+
+void Collector::Open() {
+	piston->Set(true);
+}
+
+void Collector::Close() {
+	piston->Set(false);
+}
+
+void Collector::InitDefaultCommand() {}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Collector.h

@@ -0,0 +1,70 @@
+#ifndef Collector_H
+#define Collector_H
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ * The Collector subsystem has one motor for the rollers, a limit switch for ball
+ * detection, a piston for opening and closing the claw, and a reed switch to
+ * check if the piston is open.
+ */
+class Collector: public Subsystem
+{
+public:
+	// Constants for some useful speeds
+	static const double FORWARD = 1;
+	static const double STOP = 0;
+	static const double REVERSE = -1;
+
+private:
+	// Subsystem devices
+	SpeedController* rollerMotor;
+	DigitalInput* ballDetector;
+	Solenoid* piston;
+	DigitalInput* openDetector;
+
+public:
+	Collector();
+
+	/**
+	 * NOTE: The current simulation model uses the the lower part of the claw
+	 * since the limit switch wasn't exported. At some point, this will be
+	 * updated.
+	 *
+	 * @return Whether or not the robot has the ball.
+	 */
+	bool HasBall();
+
+	/**
+	 * @param speed The speed to spin the rollers.
+	 */
+	void SetSpeed(double speed);
+
+	/**
+	 * Stop the rollers from spinning
+	 */
+	void Stop();
+
+	/**
+	 * @return Whether or not the claw is open.
+	 */
+	bool IsOpen();
+
+	/**
+	 * Open the claw up. (For shooting)
+	 */
+	void Open();
+
+	/**
+	 * Close the claw. (For collecting and driving)
+	 */
+	void Close();
+
+	/**
+	 * No default command.
+	 */
+	void InitDefaultCommand();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -0,0 +1,85 @@
+#include "DriveTrain.h"
+#include "Commands/DriveWithJoystick.h"
+#define _USE_MATH_DEFINES
+#include <math.h>
+
+DriveTrain::DriveTrain() :
+		Subsystem("DriveTrain") {
+	// Configure drive motors
+	frontLeftCIM = new Victor(1, 1);
+	frontRightCIM = new Victor(1, 2);
+	backLeftCIM = new Victor(1, 3);
+	backRightCIM = new Victor(1, 4);
+	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Left CIM", (Victor) frontLeftCIM);
+	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Front Right CIM", (Victor) frontRightCIM);
+	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Left CIM", (Victor) backLeftCIM);
+	// XXX: LiveWindow::GetInstance()->AddActuator("DriveTrain", "Back Right CIM", (Victor) backRightCIM);
+
+	// Configure the RobotDrive to reflect the fact that all our motors are
+	// wired backwards and our drivers sensitivity preferences.
+	drive = new RobotDrive(frontLeftCIM, backLeftCIM, frontRightCIM, backRightCIM);
+	drive->SetSafetyEnabled(true);
+	drive->SetExpiration(0.1);
+	drive->SetSensitivity(0.5);
+	drive->SetMaxOutput(1.0);
+	drive->SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
+	drive->SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
+	drive->SetInvertedMotor(RobotDrive::kFrontRightMotor, true);
+	drive->SetInvertedMotor(RobotDrive::kRearRightMotor, true);
+
+	// Configure encoders
+	rightEncoder = new Encoder(1, 1, 1, 2, true, Encoder::k4X);
+	leftEncoder = new Encoder(2, 5, 2, 6, false, Encoder::k4X);
+	rightEncoder->SetPIDSourceParameter(PIDSource::kDistance);
+	leftEncoder->SetPIDSourceParameter(PIDSource::kDistance);
+
+    #ifdef REAL
+		// Converts to feet
+		rightEncoder->SetDistancePerPulse(0.0785398);
+		leftEncoder->SetDistancePerPulse(0.0785398);
+    #else
+		// Convert to feet 4in diameter wheels with 360 tick simulated encoders
+		rightEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/));
+		leftEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/));
+	#endif
+
+	rightEncoder->Start();
+	leftEncoder->Start();
+	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Right Encoder", rightEncoder);
+	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Left Encoder", leftEncoder);
+
+	// Configure gyro
+	gyro = new Gyro(1, 2);
+    #ifdef REAL
+		gyro->SetSensitivity(0.007); // TODO: Handle more gracefully?
+    #endif
+	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Gyro", gyro);
+}
+
+void DriveTrain::InitDefaultCommand() {
+	SetDefaultCommand(new DriveWithJoystick());
+}
+
+void DriveTrain::TankDrive(Joystick* joy) {
+	drive->TankDrive(joy->GetY(), joy->GetRawAxis(4));
+}
+
+void DriveTrain::TankDrive(double leftAxis, double rightAxis) {
+	drive->TankDrive(leftAxis, rightAxis);
+}
+
+void DriveTrain::Stop() {
+	drive->TankDrive(0.0, 0.0);
+}
+
+Encoder* DriveTrain::GetLeftEncoder() {
+	return leftEncoder;
+}
+
+Encoder* DriveTrain::GetRightEncoder() {
+	return rightEncoder;
+}
+
+double DriveTrain::GetAngle() {
+	return gyro->GetAngle();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.h

@@ -0,0 +1,62 @@
+#ifndef DriveTrain_H
+#define DriveTrain_H
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ * The DriveTrain subsystem controls the robot's chassis and reads in
+ * information about it's speed and position.
+ */
+class DriveTrain: public Subsystem
+{
+private:
+	// Subsystem devices
+	SpeedController *frontLeftCIM, *frontRightCIM;
+	SpeedController *backLeftCIM, *backRightCIM;
+	RobotDrive* drive;
+	Encoder *rightEncoder, *leftEncoder;
+	Gyro* gyro;
+
+public:
+	DriveTrain();
+
+	/**
+	 * When other commands aren't using the drivetrain, allow tank drive with
+	 * the joystick.
+	 */
+	void InitDefaultCommand();
+
+	/**
+	 * @param joy PS3 style joystick to use as the input for tank drive.
+	 */
+	void TankDrive(Joystick* joy);
+
+	/**
+	 * @param leftAxis Left sides value
+	 * @param rightAxis Right sides value
+	 */
+	void TankDrive(double leftAxis, double rightAxis);
+
+	/**
+	 * Stop the drivetrain from moving.
+	 */
+	void Stop();
+
+	/**
+	 * @return The encoder getting the distance and speed of left side of the drivetrain.
+	 */
+	Encoder* GetLeftEncoder();
+
+	/**
+	 * @return The encoder getting the distance and speed of right side of the drivetrain.
+	 */
+	Encoder* GetRightEncoder();
+
+	/**
+	 * @return The current angle of the drivetrain.
+	 */
+	double GetAngle();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.cpp

@@ -0,0 +1,53 @@
+#include "Pivot.h"
+
+Pivot::Pivot() :
+		PIDSubsystem("Pivot", 7.0, 0.0, 8.0)
+{
+	SetAbsoluteTolerance(0.005);
+	GetPIDController()->SetContinuous(false);
+	#ifdef SIMULATION
+		// PID is different in simulation.
+		GetPIDController()->SetPID(0.5, 0.00001, 4.5);
+		SetAbsoluteTolerance(2.5);
+	#endif
+
+	// Motor to move the pivot.
+	motor = new Victor(5);
+
+	// Sensors for measuring the position of the pivot.
+	upperLimitSwitch = new DigitalInput(13);
+	lowerLimitSwitch = new DigitalInput(12);
+
+	// 0 degrees is vertical facing up.
+	// Angle increases the more forward the pivot goes.
+	pot = new AnalogPotentiometer(1);
+
+	// Put everything to the LiveWindow for testing.
+	LiveWindow::GetInstance()->AddSensor("Pivot", "Upper Limit Switch", upperLimitSwitch);
+	LiveWindow::GetInstance()->AddSensor("Pivot", "Lower Limit Switch", lowerLimitSwitch);
+	// XXX: LiveWindow::GetInstance()->AddSensor("Pivot", "Pot", (AnalogPotentiometer) pot);
+	// XXX: LiveWindow::GetInstance()->AddActuator("Pivot", "Motor", (Victor) motor);
+	LiveWindow::GetInstance()->AddActuator("Pivot", "PIDSubsystem Controller", GetPIDController());
+}
+
+void InitDefaultCommand() {}
+
+double Pivot::ReturnPIDInput() {
+	return pot->Get();
+}
+
+void Pivot::UsePIDOutput(double output) {
+	motor->PIDWrite(output);
+}
+
+bool Pivot::IsAtUpperLimit() {
+	return upperLimitSwitch->Get(); // TODO: inverted from real robot (prefix with !)
+}
+
+bool Pivot::IsAtLowerLimit() {
+	return lowerLimitSwitch->Get(); // TODO: inverted from real robot (prefix with !)
+}
+
+double Pivot::GetAngle() {
+	return pot->Get();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pivot.h

@@ -0,0 +1,61 @@
+#ifndef Pivot_H
+#define Pivot_H
+
+#include "Commands/PIDSubsystem.h"
+#include "WPILib.h"
+
+/**
+ * The Pivot subsystem contains the Van-door motor and the pot for PID control
+ * of angle of the pivot and claw.
+ */
+class Pivot: public PIDSubsystem
+{
+public:
+	// Constants for some useful angles
+	static const double COLLECT = 105;
+	static const double LOW_GOAL = 90;
+	static const double SHOOT = 45;
+	static const double SHOOT_NEAR = 30;
+
+private:
+	// Subsystem devices
+	DigitalInput* upperLimitSwitch;
+	DigitalInput* lowerLimitSwitch;
+	Potentiometer* pot;
+	SpeedController* motor;
+
+public:
+	Pivot();
+
+	/**
+	 *  No default command, if PID is enabled, the current setpoint will be maintained.
+	 */
+	void InitDefaultCommand() {}
+
+	/**
+	 * @return The angle read in by the potentiometer
+	 */
+	double ReturnPIDInput();
+
+	/**
+	 * Set the motor speed based off of the PID output
+	 */
+	void UsePIDOutput(double output);
+
+	/**
+	 * @return If the pivot is at its upper limit.
+	 */
+	bool IsAtUpperLimit();
+
+	/**
+	 * @return If the pivot is at its lower limit.
+	 */
+	bool IsAtLowerLimit();
+
+	/**
+	 * @return The current angle of the pivot.
+	 */
+	double GetAngle();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.cpp

@@ -0,0 +1,44 @@
+#include "Pneumatics.h"
+
+Pneumatics::Pneumatics() :
+		Subsystem("Pneumatics")
+{
+	pressureSensor = new AnalogChannel(3);
+	#ifdef REAL
+		compressor = new Compressor(uint8_t(1)); // TODO: (1, 14, 1, 8);
+	#endif
+
+	LiveWindow::GetInstance()->AddSensor("Pneumatics", "Pressure Sensor", pressureSensor);
+}
+
+/**
+ * No default command
+ */
+void Pneumatics::InitDefaultCommand() {}
+
+/**
+ * Start the compressor going. The compressor automatically starts and stops as it goes above and below maximum pressure.
+ */
+void Pneumatics::Start() {
+    #ifdef REAL
+		compressor->Start();
+    #endif
+}
+
+/**
+ * @return Whether or not the system is fully pressurized.
+ */
+bool Pneumatics::IsPressurized() {
+    #ifdef REAL
+		return MAX_PRESSURE <= pressureSensor->GetVoltage();
+    #else
+		return true; // NOTE: Simulation always has full pressure
+	#endif
+}
+
+/**
+ * Puts the pressure on the SmartDashboard.
+ */
+void Pneumatics::WritePressure() {
+	SmartDashboard::PutNumber("Pressure", pressureSensor->GetVoltage());
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Pneumatics.h

@@ -0,0 +1,46 @@
+#ifndef Pneumatics_H
+#define Pneumatics_H
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ * The Pneumatics subsystem contains the compressor and a pressure sensor.
+ *
+ * NOTE: The simulator currently doesn't support the compressor or pressure sensors.
+ */
+class Pneumatics: public Subsystem
+{
+private:
+	AnalogChannel* pressureSensor;
+	#ifdef REAL
+		Compressor* compressor;
+	#endif
+
+	static const double MAX_PRESSURE = 2.55;
+
+public:
+	Pneumatics();
+
+	/**
+	 * No default command
+	 */
+	void InitDefaultCommand();
+
+	/**
+	 * Start the compressor going. The compressor automatically starts and stops as it goes above and below maximum pressure.
+	 */
+	void Start();
+
+	/**
+	 * @return Whether or not the system is fully pressurized.
+	 */
+	bool IsPressurized();
+
+	/**
+	 * Puts the pressure on the SmartDashboard.
+	 */
+	void WritePressure();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.cpp

@@ -0,0 +1,88 @@
+#include "Shooter.h"
+
+Shooter::Shooter() :
+		Subsystem("Shooter")
+{
+	// Configure Devices
+	hotGoalSensor = new DigitalInput(1, 3);
+	piston1 = new DoubleSolenoid(1, 3, 4);
+	piston2 = new DoubleSolenoid(1, 5, 6);
+	latchPiston = new Solenoid(1, 2);
+	piston1ReedSwitchFront = new DigitalInput(1, 9);
+	piston1ReedSwitchBack = new DigitalInput(1, 11);
+
+	// Put everything to the LiveWindow for testing.
+	LiveWindow::GetInstance()->AddSensor("Shooter", "Hot Goal Sensor", hotGoalSensor);
+	LiveWindow::GetInstance()->AddSensor("Shooter", "Piston1 Reed Switch Front ", piston1ReedSwitchFront);
+	LiveWindow::GetInstance()->AddSensor("Shooter", "Piston1 Reed Switch Back ", piston1ReedSwitchBack);
+	LiveWindow::GetInstance()->AddActuator("Shooter", "Latch Piston", latchPiston);
+}
+
+void Shooter::InitDefaultCommand()
+{
+	// Set the default command for a subsystem here.
+	//SetDefaultCommand(new MySpecialCommand());
+}
+
+void Shooter::ExtendBoth() {
+	piston1->Set(DoubleSolenoid::kForward);
+	piston2->Set(DoubleSolenoid::kForward);
+}
+
+void Shooter::RetractBoth() {
+	piston1->Set(DoubleSolenoid::kReverse);
+	piston2->Set(DoubleSolenoid::kReverse);
+}
+
+void Shooter::Extend1() {
+	piston1->Set(DoubleSolenoid::kForward);
+}
+
+void Shooter::Retract1() {
+	piston1->Set(DoubleSolenoid::kReverse);
+}
+
+void Shooter::Extend2() {
+	piston2->Set(DoubleSolenoid::kReverse);
+}
+
+void Shooter::Retract2() {
+	piston2->Set(DoubleSolenoid::kForward);
+}
+
+void Shooter::Off1() {
+	piston1->Set(DoubleSolenoid::kOff);
+}
+
+void Shooter::Off2() {
+	piston2->Set(DoubleSolenoid::kOff);
+}
+
+void Shooter::Unlatch() {
+	latchPiston->Set(true);
+}
+
+void Shooter::Latch() {
+	latchPiston->Set(false);
+}
+
+void Shooter::ToggleLatchPosition() {
+	latchPiston->Set(!latchPiston->Get());
+}
+
+bool Shooter::Piston1IsExtended() {
+	return !piston1ReedSwitchFront->Get();
+}
+
+bool Shooter::Piston1IsRetracted() {
+	return !piston1ReedSwitchBack->Get();
+}
+
+void Shooter::OffBoth() {
+	piston1->Set(DoubleSolenoid::kOff);
+	piston2->Set(DoubleSolenoid::kOff);
+}
+
+bool Shooter::GoalIsHot() {
+	return hotGoalSensor->Get();
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.h

@@ -0,0 +1,117 @@
+#ifndef Shooter_H
+#define Shooter_H
+
+#include "Commands/Subsystem.h"
+#include "WPILib.h"
+
+/**
+ * The Shooter subsystem handles shooting. The mechanism for shooting is
+ * slightly complicated because it has to pneumatic cylinders for shooting, and
+ * a third latch to allow the pressure to partially build up and reduce the
+ * effect of the airflow. For shorter shots, when full power isn't needed, only
+ * one cylinder fires.
+ *
+ * NOTE: Simulation currently approximates this as as single pneumatic cylinder
+ * and ignores the latch.
+ */
+class Shooter: public Subsystem
+{
+private:
+	// Devices
+	DoubleSolenoid* piston1;
+	DoubleSolenoid* piston2;
+	Solenoid* latchPiston;
+	DigitalInput* piston1ReedSwitchFront;
+	DigitalInput* piston1ReedSwitchBack;
+	DigitalInput* hotGoalSensor; // NOTE: Currently ignored in simulation
+
+public:
+	Shooter();
+	void InitDefaultCommand();
+
+	/**
+	 * Extend both solenoids to shoot.
+	 */
+	void ExtendBoth();
+
+	/**
+	 * Retract both solenoids to prepare to shoot.
+	 */
+	void RetractBoth();
+
+	/**
+	 * Extend solenoid 1 to shoot.
+	 */
+	void Extend1();
+
+
+	/**
+	 * Retract solenoid 1 to prepare to shoot.
+	 */
+	void Retract1();
+
+	/**
+	 * Extend solenoid 2 to shoot.
+	 */
+	void Extend2();
+
+	/**
+	 * Retract solenoid 2 to prepare to shoot.
+	 */
+	void Retract2();
+
+	/**
+	 * Turns off the piston1 double solenoid. This won't actuate anything
+	 * because double solenoids preserve their state when turned off. This
+	 * should be called in order to reduce the amount of time that the coils are
+	 * powered.
+	 */
+	void Off1();
+
+	/**
+	 * Turns off the piston1 double solenoid. This won't actuate anything
+	 * because double solenoids preserve their state when turned off. This
+	 * should be called in order to reduce the amount of time that the coils are
+	 * powered.
+	 */
+	void Off2();
+
+	/**
+	 * Release the latch so that we can shoot
+	 */
+	void Unlatch();
+
+	/**
+	 * Latch so that pressure can build up and we aren't limited by air flow.
+	 */
+	void Latch();
+
+	/**
+	 * Toggles the latch postions
+	 */
+	void ToggleLatchPosition();
+
+	/**
+	 * @return Whether or not piston 1 is fully extended.
+	 */
+	bool Piston1IsExtended();
+
+	/**
+	 * @return Whether or not piston 1 is fully retracted.
+	 */
+	bool Piston1IsRetracted();
+
+	/**
+	 * Turns off all double solenoids. Double solenoids hold their position when
+	 * they are turned off. We should turn them off whenever possible to extend
+	 * the life of the coils
+	 */
+	void OffBoth();
+
+	/**
+	 * @return Whether or not the goal is hot as read by the banner sensor
+	 */
+	bool GoalIsHot();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Triggers/DoubleButton.cpp

@@ -0,0 +1,19 @@
+/*
+ * DoubleButton.cpp
+ *
+ *  Created on: Jun 24, 2014
+ *      Author: alex
+ */
+
+#include "DoubleButton.h"
+
+DoubleButton::DoubleButton(Joystick* joy, int button1, int button2) {
+	this->joy = joy;
+	this->button1 = button1;
+	this->button2 = button2;
+}
+
+bool DoubleButton::Get() {
+    return joy->GetRawButton(button1) && joy->GetRawButton(button2);
+}
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Triggers/DoubleButton.h

@@ -0,0 +1,24 @@
+/*
+ * DoubleButton.h
+ *
+ *  Created on: Jun 24, 2014
+ *      Author: alex
+ */
+
+#ifndef DOUBLEBUTTON_H_
+#define DOUBLEBUTTON_H_
+
+#include "WPILib.h"
+
+class DoubleButton : public Trigger {
+private:
+	Joystick* joy;
+	int button1, button2;
+
+public:
+	DoubleButton(Joystick* joy, int button1, int button2);
+
+    bool Get();
+};
+
+#endif /* DOUBLEBUTTON_H_ */

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

@@ -137,6 +137,110 @@
             destination="src/Subsystems/Wrist.h"></file>
     </files>
   </example>
-
   
+  <example>
+    <name>PacGoat</name>
+    <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
+    <tags>
+      <tag>CommandBased Robot</tag>
+      <tag>Simulation</tag>
+      <tag>2014 Season</tag>
+    </tags>
+    <packages>
+      <package>src</package>
+      <package>src/Commands</package>
+      <package>src/Subsystems</package>
+      <package>src/Triggers</package>
+    </packages>
+    <files>
+      <file source="examples/PacGoat/src/Commands/CheckForHotGoal.cpp"
+            destination="src/Commands/CheckForHotGoal.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/CheckForHotGoal.h"
+            destination="src/Commands/CheckForHotGoal.h"></file>
+      <file source="examples/PacGoat/src/Commands/CloseClaw.cpp"
+           destination="src/Commands/CloseClaw.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/CloseClaw.h"
+            destination="src/Commands/CloseClaw.h"></file>
+      <file source="examples/PacGoat/src/Commands/Collect.cpp"
+            destination="src/Commands/Collect.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/Collect.h"
+            destination="src/Commands/Collect.h"></file>
+      <file source="examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp"
+            destination="src/Commands/DriveAndShootAutonomous.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/DriveAndShootAutonomous.h"
+            destination="src/Commands/DriveAndShootAutonomous.h"></file>
+      <file source="examples/PacGoat/src/Commands/DriveForward.cpp"
+            destination="src/Commands/DriveForward.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/DriveForward.h"
+            destination="src/Commands/DriveForward.h"></file>
+      <file source="examples/PacGoat/src/Commands/DriveWithJoystick.cpp"
+            destination="src/Commands/DriveWithJoystick.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/DriveWithJoystick.h"
+            destination="src/Commands/DriveWithJoystick.h"></file>
+      <file source="examples/PacGoat/src/Commands/ExtendShooter.cpp"
+            destination="src/Commands/ExtendShooter.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/ExtendShooter.h"
+            destination="src/Commands/ExtendShooter.h"></file>
+      <file source="examples/PacGoat/src/Commands/LowGoal.cpp"
+            destination="src/Commands/LowGoal.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/LowGoal.h"
+            destination="src/Commands/LowGoal.h"></file>
+      <file source="examples/PacGoat/src/Commands/OpenClaw.cpp"
+            destination="src/Commands/OpenClaw.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/OpenClaw.h"
+            destination="src/Commands/OpenClaw.h"></file>
+      <file source="examples/PacGoat/src/Commands/SetCollectionSpeed.cpp"
+            destination="src/Commands/SetCollectionSpeed.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/SetCollectionSpeed.h"
+            destination="src/Commands/SetCollectionSpeed.h"></file>
+      <file source="examples/PacGoat/src/Commands/SetPivotSetpoint.cpp"
+            destination="src/Commands/SetPivotSetpoint.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/SetPivotSetpoint.h"
+            destination="src/Commands/SetPivotSetpoint.h"></file>
+      <file source="examples/PacGoat/src/Commands/Shoot.cpp"
+            destination="src/Commands/Shoot.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/Shoot.h"
+            destination="src/Commands/Shoot.h"></file>
+      <file source="examples/PacGoat/src/Commands/WaitForBall.cpp"
+            destination="src/Commands/WaitForBall.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/WaitForBall.h"
+            destination="src/Commands/WaitForBall.h"></file>
+      <file source="examples/PacGoat/src/Commands/WaitForPressure.cpp"
+            destination="src/Commands/WaitForPressure.cpp"></file>
+      <file source="examples/PacGoat/src/Commands/WaitForPressure.h"
+            destination="src/Commands/WaitForPressure.h"></file>
+      <file source="examples/PacGoat/src/OI.cpp"
+            destination="src/OI.cpp"></file>
+      <file source="examples/PacGoat/src/OI.h"
+            destination="src/OI.h"></file>
+      <file source="examples/PacGoat/src/Robot.cpp"
+            destination="src/Robot.cpp"></file>
+      <file source="examples/PacGoat/src/Robot.h"
+            destination="src/Robot.h"></file>
+      <file source="examples/PacGoat/src/Subsystems/Collector.cpp"
+            destination="src/Subsystems/Collector.cpp"></file>
+      <file source="examples/PacGoat/src/Subsystems/Collector.h"
+            destination="src/Subsystems/Collector.h"></file>
+      <file source="examples/PacGoat/src/Subsystems/DriveTrain.cpp"
+            destination="src/Subsystems/DriveTrain.cpp"></file>
+      <file source="examples/PacGoat/src/Subsystems/DriveTrain.h"
+            destination="src/Subsystems/DriveTrain.h"></file>
+      <file source="examples/PacGoat/src/Subsystems/Pivot.cpp"
+            destination="src/Subsystems/Pivot.cpp"></file>
+      <file source="examples/PacGoat/src/Subsystems/Pivot.h"
+            destination="src/Subsystems/Pivot.h"></file>
+      <file source="examples/PacGoat/src/Subsystems/Pneumatics.cpp"
+            destination="src/Subsystems/Pneumatics.cpp"></file>
+      <file source="examples/PacGoat/src/Subsystems/Pneumatics.h"
+            destination="src/Subsystems/Pneumatics.h"></file>
+      <file source="examples/PacGoat/src/Subsystems/Shooter.cpp"
+            destination="src/Subsystems/Shooter.cpp"></file>
+      <file source="examples/PacGoat/src/Subsystems/Shooter.h"
+            destination="src/Subsystems/Shooter.h"></file>
+      <file source="examples/PacGoat/src/Triggers/DoubleButton.cpp"
+            destination="src/Triggers/DoubleButton.cpp"></file>
+      <file source="examples/PacGoat/src/Triggers/DoubleButton.h"
+            destination="src/Triggers/DoubleButton.h"></file>
+    </files>
+  </example>
 </examples>