| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
| 4 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
| 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
| 6 | |
| 7 | import edu.wpi.cscore.AxisCamera; |
| 8 | import edu.wpi.first.wpilibj.CameraServer; |
| 9 | import edu.wpi.first.wpilibj.IterativeRobot; |
| 10 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 11 | |
| 12 | public class Robot extends IterativeRobot { |
| 13 | private static DriveTrain driveTrain; |
| 14 | private static Shooter shooter; |
| 15 | private static OI oi; |
| 16 | private static Intake intake; |
| 17 | // private static UsbCamera usbCamera; |
| 18 | private static CameraServer cameraServer2; |
| 19 | private static AxisCamera axisCamera; |
| 20 | private static CameraFeeds cameraFeeds; |
| 21 | |
| 22 | @Override |
| 23 | public void robotInit() { |
| 24 | driveTrain = DriveTrain.getDriveTrain(); |
| 25 | oi = OI.getOI(); |
| 26 | shooter = Shooter.getShooter(); |
| 27 | intake = Intake.getIntake(); |
| 28 | |
| 29 | usbCamera = CameraServer.getInstance().startAutomaticCapture(); |
| 30 | |
| 31 | // cameraServer2 = CameraServer;getInstance(); |
| 32 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); |
| 33 | |
| 34 | cameraServer2 = CameraServer.getInstance(); |
| 35 | axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); |
| 36 | |
| 37 | cameraFeeds = new CameraFeeds(); |
| 38 | |
| 39 | // usbCamera = CameraServer.getInstance().startAutomaticCapture(); |
| 40 | // CameraServer.getInstance().startAutomaticCapture(); |
| 41 | // cameraServer2 = CameraServer.getInstance(); |
| 42 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); |
| 43 | // cameraFeeds = new CameraFeeds(); |
| 44 | |
| 45 | } |
| 46 | |
| 47 | public static DriveTrain getDriveTrain() { |
| 48 | return DriveTrain.getDriveTrain(); |
| 49 | } |
| 50 | |
| 51 | public static Shooter getShooter() { |
| 52 | return Shooter.getShooter(); |
| 53 | } |
| 54 | |
| 55 | public static OI getOI() { |
| 56 | return OI.getOI(); |
| 57 | } |
| 58 | |
| 59 | public static Intake getIntake() { |
| 60 | return Intake.getIntake(); |
| 61 | } |
| 62 | |
| 63 | // If the gear values do not match in the left and right piston, then they are |
| 64 | // both set to high gear |
| 65 | @Override |
| 66 | public void autonomousInit() { |
| 67 | driveTrain.setHighGear(); |
| 68 | } |
| 69 | |
| 70 | @Override |
| 71 | public void autonomousPeriodic() { |
| 72 | Scheduler.getInstance().run(); |
| 73 | |
| 74 | } |
| 75 | |
| 76 | @Override |
| 77 | public void teleopInit() { |
| 78 | <<<<<<< HEAD |
| 79 | |
| 80 | ======= |
| 81 | cameraFeeds.init(); |
| 82 | >>>>>>> implement CameraFeeds into robot.java and add todos |
| 83 | } |
| 84 | |
| 85 | @Override |
| 86 | public void teleopPeriodic() { |
| 87 | Scheduler.getInstance().run(); |
| 88 | cameraFeeds.run(); |
| 89 | |
| 90 | } |
| 91 | } |