Disable test buttons

Author: DriverStationComputer

Robot2018/src/main/java/org/usfirst/frc/team199/Robot2018/OI.java

@@ -88,20 +88,21 @@ public OI(Robot robot) {
 		invertDTButton = new JoystickButton(leftJoy, getButton("Invert Drivetrain", 3));
 		invertDTButton.whenPressed(new InvertDrivetrain());
 
-		pIDMoveButton = new JoystickButton(leftJoy, getButton("PID Move", 7));
-		pIDMoveButton
-				.whenPressed(new PIDMove(Robot.sd.getConst("Move Targ", 24), Robot.dt, Robot.sd, RobotMap.distEncAvg));
-		pIDTurnButton = new JoystickButton(leftJoy, getButton("PID Turn", 8));
-		pIDTurnButton
-				.whenReleased(new PIDTurn(Robot.getConst("Turn Targ", 90), Robot.dt, Robot.sd, RobotMap.fancyGyro));
-
-		resetEncButton = new JoystickButton(leftJoy, getButton("Reset Dist Enc", 10));
-		resetEncButton.whenPressed(new ResetEncoders());
-
-		findTurnTimeConstantButton = new JoystickButton(leftJoy, getButton("Find Turn Time Constant", 11));
+		// commented out for safety reasons
+		// pIDMoveButton = new JoystickButton(leftJoy, getButton("PID Move", 7));
+		// pIDMoveButton
+		// 		.whenPressed(new PIDMove(Robot.sd.getConst("Move Targ", 24), Robot.dt, Robot.sd, RobotMap.distEncAvg));
+		// pIDTurnButton = new JoystickButton(leftJoy, getButton("PID Turn", 8));
+		// pIDTurnButton
+		// 		.whenReleased(new PIDTurn(Robot.getConst("Turn Targ", 90), Robot.dt, Robot.sd, RobotMap.fancyGyro));
+
+		// resetEncButton = new JoystickButton(leftJoy, getButton("Reset Dist Enc", 10));
+		// resetEncButton.whenPressed(new ResetEncoders());
+
+		// findTurnTimeConstantButton = new JoystickButton(leftJoy, getButton("Find Turn Time Constant", 11));
 		// the command will only run in test mode
-		findTurnTimeConstantButton
-				.whenPressed(new FindTurnTimeConstant(robot, Robot.dt, Robot.rmap.fancyGyro, Robot.sd));
+		// findTurnTimeConstantButton
+		// 		.whenPressed(new FindTurnTimeConstant(robot, Robot.dt, Robot.rmap.fancyGyro, Robot.sd));
 
 		testLiftPID = new JoystickButton(leftJoy, getButton("Test Lift PID", 5));
 		testLiftPID.whenPressed(
@@ -118,10 +119,10 @@ public OI(Robot robot) {
 		updateEncoderDPPButton = new JoystickButton(rightJoy, getButton("Get Encoder Dist Per Pulse", 9));
 		updateEncoderDPPButton.whenPressed(new SetDistancePerPulse());
 
-		moveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up", 10));
-		moveLiftUpButton.whileHeld(new MoveLift(Robot.lift, true));
-		moveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down", 11));
-		moveLiftDownButton.whileHeld(new MoveLift(Robot.lift, false));
+		// moveLiftUpButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Up", 10));
+		// moveLiftUpButton.whileHeld(new MoveLift(Robot.lift, true));
+		// moveLiftDownButton = new JoystickButton(rightJoy, getButton("Run Lift Motor Down", 11));
+		// moveLiftDownButton.whileHeld(new MoveLift(Robot.lift, false));
 
 		manipulator = new Joystick(2);
 		// if (manipulator.getButtonCount() == 0) {

Robot2018/src/main/java/org/usfirst/frc/team199/Robot2018/commands/FindTurnTimeConstant.java

@@ -53,10 +53,10 @@ public FindTurnTimeConstant(Robot robot, DrivetrainInterface dt, AHRS gyro, Smar
 	// Called just before this Command runs the first time
 	protected void initialize() {
 		System.out.println("FindTurnTimeConstant is in init()");
-		// if (!robot.isTest()) {
-		// System.out.println("but you're not in test mode.");
-		// return;
-		// }
+		if (!robot.isTest()) {
+		System.out.println("but you're not in test mode.");
+		return;
+		}
 
 		// this should be done in low gear
 		Robot.dt.shiftGears(false);

Robot2018/src/main/java/org/usfirst/frc/team199/Robot2018/commands/UpdateLiftPosition.java

@@ -41,7 +41,7 @@ protected void execute() {
 		// if (manipulatorPluggedIn) {
 		int angle = Robot.oi.manipulator.getPOV();
 
-		System.out.println("POV Reading: " + angle);
+		// System.out.println("POV Reading: " + angle);
 
 		if (angle == 180) {
 			desiredPos = LiftHeight.HOLD_CUBE;
@@ -65,9 +65,9 @@ protected void execute() {
 			lift.setSetpoint(desiredDist);
 			goToGround = false;
 		}
-		System.out.println("Desired Pos: " + desiredPos);
-		System.out.println("Desired Dist: " + desiredDist);
-		System.out.println("Current Dist: " + lift.getHeight());
+		// System.out.println("Desired Pos: " + desiredPos);
+		// System.out.println("Desired Dist: " + desiredDist);
+		// System.out.println("Current Dist: " + lift.getHeight());
 	}
 
 	// Make this return true when this Command no longer needs to run execute()

Robot2018/src/main/java/org/usfirst/frc/team199/Robot2018/subsystems/Drivetrain.java

@@ -236,6 +236,7 @@ public void teleopDrive() {
 			if (Robot.getBool("Arcade Drive Default Setup", true)) {
 				forw = -Robot.oi.leftJoy.getY();
 				turn = Robot.oi.rightJoy.getX();
+				System.out.println("Forward is " + forw + " and turn is " + turn);
 				Robot.dt.arcadeDrive(squareJoy ? Robot.oi.squareValueKeepSign(forw) : forw,
 						squareJoy ? Robot.oi.squareValueKeepSign(turn) : turn);
 			} else {