took one talon and one solenoid off arm and added old talon on arm to
catapult

2017_BunnyBot/src/org/usfirst/frc/team2374/robot/RobotMap.java

@@ -33,15 +33,15 @@ public class RobotMap {
 	public static final int TALON_RIGHT_MASTER_1 = 6; // front right CIM
 	public static final int TALON_RIGHT_MASTER_2 = 7; // back right CIM
 
-	public static final int TALON_CATAPULT_1 = 0;
+	public static final int TALON_CATAPULT_1 = 9; //BEFORE KATYA; 0; second talon motor taken out, used for catapult now
 	public static final int SOLENOID_CATAPULT_1 = 2;
 	public static final int SOLENOID_CATAPULT_2 = 3;
 
 	public static final int TALON_ARM_1 = 8; // first motor for the arm
-	public static final int TALON_ARM_2 = 9; // second motor for the arm
+	// public static final int TALON_ARM_2 = 9; second motor for the arm; second motor taken out
 	public static final int SOLENOID_ARM_1 = 0; // first solenoid for the arm
 	public static final int SOLENOID_ARM_2 = 1; // second solenoid for the arm
-	public static final int SOLENOID_ARM_3 = 4; // third solenoid for the arm
-	public static final int SOLENOID_ARM_4 = 5; // fourth solenoid for the arm
+	//public static final int SOLENOID_ARM_3 = 4; third solenoid for the arm; one solenoid was removed with arm redesign
+	//public static final int SOLENOID_ARM_4 = 5; fourth solenoid for the arm
 
 }

2017_BunnyBot/src/org/usfirst/frc/team2374/robot/subsystems/Arm.java

@@ -11,19 +11,19 @@
 
 public class Arm extends Subsystem {
 
-	private Talon talon1, talon2;
-	private DoubleSolenoid solenoid1, solenoid2;
+	private Talon talon1; // talon2 removed
+	private DoubleSolenoid solenoid1; //solenoid2 removed
 	private Compressor airCompressor;
 
 	private static final double MOTOR_SPEED = 1.0;
 
 	public Arm () {
 		talon1 = new Talon(RobotMap.TALON_ARM_1); 
-		talon2 = new Talon(RobotMap.TALON_ARM_2);
+		//talon2 = new Talon(RobotMap.TALON_ARM_2);
 		airCompressor = new Compressor();
         airCompressor.start();
 		solenoid1 = new DoubleSolenoid(RobotMap.SOLENOID_ARM_1, RobotMap.SOLENOID_ARM_2);
-		solenoid2 = new DoubleSolenoid(RobotMap.SOLENOID_ARM_3, RobotMap.SOLENOID_ARM_4);	
+		//solenoid2 = new DoubleSolenoid(RobotMap.SOLENOID_ARM_3, RobotMap.SOLENOID_ARM_4);	
 	}
 
 	@Override
@@ -32,31 +32,31 @@ public Arm () {
 	// moves the pistons in the arm
 	public void pistonsStart() {
 		solenoid1.set(Value.kReverse);
-		solenoid2.set(Value.kForward);
+		//solenoid2.set(Value.kForward);
 	}
 
 	public void pistonsStop() {
 		solenoid1.set(Value.kForward);
-		solenoid2.set(Value.kReverse);
+		//solenoid2.set(Value.kReverse);
 	}
 
-	public boolean getPistons() { return solenoid1.equals(Value.kForward) && solenoid2.equals(Value.kForward); }
+	public boolean getPistons() { return solenoid1.equals(Value.kForward); } // solenoid2.equals(Value.kForward)
 
 	// The motors may need to spin in opposite directions ask mechanical later
 	public void motorsForward() {
 		talon1.setSpeed(MOTOR_SPEED);
-		talon2.setSpeed(-MOTOR_SPEED);
+		//talon2.setSpeed(-MOTOR_SPEED);
 	}
 
 	// The motors may need to spin in opposite directions ask mechanical later
 	public void motorsBackwards() {
 		talon1.setSpeed(-MOTOR_SPEED);
-		talon2.setSpeed(MOTOR_SPEED);
+		//talon2.setSpeed(MOTOR_SPEED);
 	}
 
 	public void motorsStop() {
 		talon1.setSpeed(0);
-		talon2.setSpeed(0);
+		//talon2.setSpeed(0);
 	}
 
 	// talon1 and talon2 should have the same speed

2017_BunnyBot/src/org/usfirst/frc/team2374/robot/subsystems/Catapult.java

@@ -18,7 +18,11 @@ public class Catapult extends Subsystem {
 
 	public Catapult() {
 		// if this doesn't work find a way to get pwm ports from navx
-		catapult1 = new Talon(RobotMap.TALON_CATAPULT_1 + 10);
+		catapult1 = new Talon(RobotMap.TALON_CATAPULT_1);
+		/* 
+		 * KAT: I deleted the +10 in the new Talon(RobotMap.TALON_CATAPULT_1) because the arm redesign took out the second motor
+		 * this gives us room to put the catapult within the 10 PWM Ports on the roborio. NAVX problem solved!
+		 */
 		solenoid = new DoubleSolenoid(RobotMap.SOLENOID_CATAPULT_1, RobotMap.SOLENOID_CATAPULT_2);
 	}