Commit | Line | Data |
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38a404b3 KZ |
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 | |
6c8d1c4c | 7 | import edu.wpi.cscore.AxisCamera; |
6c8d1c4c | 8 | import edu.wpi.first.wpilibj.CameraServer; |
38a404b3 KZ |
9 | import edu.wpi.first.wpilibj.IterativeRobot; |
10 | import edu.wpi.first.wpilibj.command.Scheduler; | |
11 | ||
12 | public class Robot extends IterativeRobot { | |
6acd1f1b | 13 | private static DriveTrain driveTrain; |
414d5638 | 14 | private static Shooter shooter; |
6acd1f1b | 15 | private static OI oi; |
6f3b6d29 | 16 | private static Intake intake; |
cdcbf5c6 | 17 | // private static UsbCamera usbCamera; |
6c8d1c4c RH |
18 | private static CameraServer cameraServer2; |
19 | private static AxisCamera axisCamera; | |
a1a9bb70 | 20 | private static CameraFeeds cameraFeeds; |
38a404b3 KZ |
21 | |
22 | @Override | |
23 | public void robotInit() { | |
6acd1f1b CZ |
24 | driveTrain = DriveTrain.getDriveTrain(); |
25 | oi = OI.getOI(); | |
079a8cb6 | 26 | shooter = Shooter.getShooter(); |
6f3b6d29 | 27 | intake = Intake.getIntake(); |
cdcbf5c6 RH |
28 | // usbCamera = CameraServer.getInstance().startAutomaticCapture(); |
29 | // CameraServer.getInstance().startAutomaticCapture(); | |
30 | // cameraServer2 = CameraServer.getInstance(); | |
31 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); | |
dd0b01ac | 32 | cameraFeeds = new CameraFeeds(); |
cca02549 | 33 | } |
6acd1f1b CZ |
34 | |
35 | public static DriveTrain getDriveTrain() { | |
36 | return DriveTrain.getDriveTrain(); | |
cca02549 | 37 | } |
6acd1f1b | 38 | |
414d5638 | 39 | public static Shooter getShooter() { |
40 | return Shooter.getShooter(); | |
41 | } | |
42 | ||
6acd1f1b CZ |
43 | public static OI getOI() { |
44 | return OI.getOI(); | |
38a404b3 KZ |
45 | } |
46 | ||
6f3b6d29 | 47 | public static Intake getIntake() { |
7992f152 AD |
48 | return Intake.getIntake(); |
49 | } | |
50 | ||
38a404b3 KZ |
51 | @Override |
52 | public void autonomousInit() { | |
53 | } | |
54 | ||
55 | @Override | |
56 | public void autonomousPeriodic() { | |
57 | Scheduler.getInstance().run(); | |
58 | ||
59 | } | |
60 | ||
61 | @Override | |
62 | public void teleopInit() { | |
a1a9bb70 | 63 | cameraFeeds.init(); |
38a404b3 KZ |
64 | } |
65 | ||
66 | @Override | |
67 | public void teleopPeriodic() { | |
68 | Scheduler.getInstance().run(); | |
ae2aec88 | 69 | |
38a404b3 KZ |
70 | |
71 | } | |
72 | } |