| 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.first.wpilibj.IterativeRobot; |
| 8 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
| 10 | |
| 11 | public class Robot extends IterativeRobot { |
| 12 | private static DriveTrain driveTrain; |
| 13 | private static Shooter shooter; |
| 14 | private static OI oi; |
| 15 | private static Intake intake; |
| 16 | |
| 17 | @Override |
| 18 | public void robotInit() { |
| 19 | driveTrain = DriveTrain.getDriveTrain(); |
| 20 | oi = OI.getOI(); |
| 21 | shooter = Shooter.getShooter(); |
| 22 | intake = Intake.getIntake(); |
| 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 | |
| 34 | } |
| 35 | |
| 36 | public static DriveTrain getDriveTrain() { |
| 37 | return driveTrain; |
| 38 | } |
| 39 | |
| 40 | public static Shooter getShooter() { |
| 41 | return Shooter.getShooter(); |
| 42 | } |
| 43 | |
| 44 | public static OI getOI() { |
| 45 | return OI.getOI(); |
| 46 | } |
| 47 | |
| 48 | public static Intake getIntake() { |
| 49 | return Intake.getIntake(); |
| 50 | } |
| 51 | |
| 52 | // If the gear values do not match in the left and right piston, then they are |
| 53 | // both set to high gear |
| 54 | @Override |
| 55 | public void autonomousInit() { |
| 56 | driveTrain.setHighGear(); |
| 57 | |
| 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); |
| 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); |
| 65 | SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0); |
| 66 | SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0); |
| 67 | SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0); |
| 68 | SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); |
| 69 | |
| 70 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5); |
| 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); |
| 97 | |
| 98 | } |
| 99 | |
| 100 | @Override |
| 101 | public void autonomousPeriodic() { |
| 102 | Scheduler.getInstance().run(); |
| 103 | |
| 104 | } |
| 105 | |
| 106 | @Override |
| 107 | public void teleopInit() { |
| 108 | |
| 109 | } |
| 110 | |
| 111 | @Override |
| 112 | public void teleopPeriodic() { |
| 113 | Scheduler.getInstance().run(); |
| 114 | } |
| 115 | } |