Robot

package org.usfirst.frc.team2834.robot;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.RobotDrive.MotorType;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Victor;

/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
    Joystick gamepad = new Joystick(0);
    RobotDrive motors = new RobotDrive(0,1,2,3);
    //Victor cannonLift = new Victor(4);
    Compressor c = new Compressor(0);
    Compressor d = new Compressor(1);
    Solenoid shoot = new Solenoid(1);
    Solenoid lift1 = new Solenoid(2);


    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    //----------------Changes below this line-------------------------------
        //If the robot ends up backwards switch the next two lines for the two below them
        motors.setInvertedMotor(MotorType.kFrontLeft, true);
        motors.setInvertedMotor(MotorType.kRearLeft, true);
        motors.setInvertedMotor(MotorType.kFrontRight, true);
        motors.setInvertedMotor(MotorType.kRearRight, true);
    //----------------Changes above this line-------------------------------
        c.start();
        d.start();
    }

    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {

    }

    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {

        // Sebastian originally told us the cannon would be lifted with motors...
        /*motors.arcadeDrive(gamepad.getRawAxis(1), gamepad.getRawAxis(4));
        // 'y' button
        if (gamepad.getRawButton(4)){
            cannonLift.set(0.5);
        }
        // 'a' button
        else if (gamepad.getRawButton(1)){
            cannonLift.set(-0.5);
        }
        else{
            cannonLift.set(0);
        }*/

        motors.arcadeDrive(gamepad.getRawAxis(1), gamepad.getRawAxis(4));
        // 'y' button; lift cannon
        if (gamepad.getRawButton(4)){
            lift1.set(true);
            shoot.set(false);
        }
        // 'a' button; shoot cannon
        else if (gamepad.getRawButton(1)){

            lift1.set(false);
            shoot.set(true);
        }
    // do nothing?
        else{
            lift2.set(false);
            lift1.set(false);
            shoot.set(false);
        }

    }

    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {

    }

}