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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
cca02549 | 3 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 4 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 6 | |
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7 | import edu.wpi.first.wpilibj.IterativeRobot; |
8 | import edu.wpi.first.wpilibj.command.Scheduler; | |
34ffcd03 | 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
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10 | |
11 | public class Robot extends IterativeRobot { | |
6acd1f1b | 12 | private static DriveTrain driveTrain; |
414d5638 | 13 | private static Shooter shooter; |
6acd1f1b | 14 | private static OI oi; |
6f3b6d29 | 15 | private static Intake intake; |
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16 | |
17 | @Override | |
18 | public void robotInit() { | |
42dc48a6 | 19 | driveTrain = DriveTrain.getDriveTrain(); |
6acd1f1b | 20 | oi = OI.getOI(); |
079a8cb6 | 21 | shooter = Shooter.getShooter(); |
6f3b6d29 | 22 | intake = Intake.getIntake(); |
9781fa24 E |
23 | |
24 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0); | |
25 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0); | |
26 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0); | |
27 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50); | |
28 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5); | |
29 | ||
30 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0); | |
31 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0); | |
32 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0); | |
33 | ||
cca02549 | 34 | } |
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35 | |
36 | public static DriveTrain getDriveTrain() { | |
cdb67f48 | 37 | return driveTrain; |
cca02549 | 38 | } |
6acd1f1b | 39 | |
414d5638 | 40 | public static Shooter getShooter() { |
41 | return Shooter.getShooter(); | |
42 | } | |
43 | ||
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44 | public static OI getOI() { |
45 | return OI.getOI(); | |
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46 | } |
47 | ||
6f3b6d29 | 48 | public static Intake getIntake() { |
7992f152 AD |
49 | return Intake.getIntake(); |
50 | } | |
51 | ||
538715b1 AD |
52 | // If the gear values do not match in the left and right piston, then they are |
53 | // both set to high gear | |
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54 | @Override |
55 | public void autonomousInit() { | |
202468a5 | 56 | driveTrain.setHighGear(); |
2fe295a6 | 57 | |
b69da5bd MW |
58 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0); |
59 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0); | |
60 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0); | |
61 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50); | |
5817adb0 ES |
62 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0); |
63 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0); | |
64 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0); | |
7a65d2ce ES |
65 | SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0); |
66 | SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0); | |
67 | SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0); | |
7a65d2ce | 68 | SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); |
ffa8cfd5 | 69 | |
21df72de | 70 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5); |
f9b52969 E |
71 | |
72 | double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, | |
73 | Constants.DriveTrain.PID_ERROR); | |
74 | double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, | |
75 | Constants.DriveTrain.PID_ERROR); | |
76 | double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, | |
77 | Constants.DriveTrain.PID_ERROR); | |
78 | ||
79 | double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, | |
80 | Constants.DriveTrain.PID_ERROR); | |
81 | double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, | |
82 | Constants.DriveTrain.PID_ERROR); | |
83 | double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, | |
84 | Constants.DriveTrain.PID_ERROR); | |
85 | ||
86 | double Setpoint = SmartDashboard.getNumber( | |
87 | Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR); | |
88 | double Speed = SmartDashboard.getNumber( | |
89 | Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR); | |
90 | ||
91 | driveTrain.getDriveController().setName("Drive"); | |
92 | driveTrain.getGyroController().setName("Gyro"); | |
93 | ||
94 | driveTrain.getDriveController().setConstants(driveP, driveI, driveD); | |
95 | ||
96 | driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); | |
09ee7387 | 97 | |
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98 | } |
99 | ||
100 | @Override | |
101 | public void autonomousPeriodic() { | |
102 | Scheduler.getInstance().run(); | |
93698237 | 103 | |
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104 | } |
105 | ||
106 | @Override | |
107 | public void teleopInit() { | |
538715b1 | 108 | |
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109 | } |
110 | ||
111 | @Override | |
112 | public void teleopPeriodic() { | |
88ecb8d3 | 113 | Scheduler.getInstance().run(); |
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114 | } |
115 | } |