commented out 'switch front of drivetrain' stuff

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;
  public static IntakeArm intakeArm;

  SendableChooser frontChooser;
  boolean isFront;

  CameraServer cameraServer;

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    intakeArm = new IntakeArm();

    oi = new OI();
    isFront = true;

    frontChooser = new SendableChooser();
    frontChooser.addDefault("Intake is front", false);
    frontChooser.addObject("Shooter is front", true);

    SmartDashboard.putData("Front chooser", frontChooser);

    cameraServer = CameraServer.getInstance();
    cameraServer.setQuality(50);
    cameraServer.startAutomaticCapture();

  }

  @Override
  public void autonomousInit() {
    // get options chosen from drop down menu

    //isFront = (boolean) frontChooser.getSelected();

    //if (!isFront)
    //  driveTrain.toggleFlipped();

    Scheduler.getInstance().add(new TimeDrive(.6, 4));
  }

  @Override
  public void autonomousPeriodic() {

    Scheduler.getInstance().run();
  }

  @Override
  public void teleopInit() {
    if (!isFront)
      driveTrain.toggleFlipped();
    Scheduler.getInstance().add(new SetLowGear());
  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();
  }

}