CCRE Example

import ccre.channel.*;
import ccre.ctrl.*;
import ccre.frc.*;
import ccre.instinct.*;

public class Test implements FRCApplication {
    public void setupRobot() {
        FloatInput leftAxis = FRC.joystick1.axis(2);
        FloatInput rightAxis = FRC.joystick1.axis(5);
        FloatOutput leftOut = FRC.talon(2, FRC.MOTOR_FORWARD);
        FloatOutput rightOut = FRC.talon(1, FRC.MOTOR_REVERSE);

        Drive.tank(leftAxis, rightAxis, leftOut, rightOut);

        BooleanOutput shifter = FRC.solenoid(2);
        shifter.setFalseWhen(FRC.startTele);
        shifter.setTrueWhen(FRC.joystick1.onPress(3));
        shifter.setFalseWhen(FRC.joystick1.onPress(1));

        FRC.registerAutonomous(new InstinctModule() {
            @Override
            protected void autonomousMain() throws AutonomousModeOverException, InterruptedException {
                leftOut.set(-1);
                rightOut.set(-1);
                waitForTime(5000);
                leftOut.set(0);
                rightOut.set(0);
            }
        });
    }
}