| 1 | package org.usfirst.frc3501.RiceCatRobot.robot; |
| 2 | |
| 3 | import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; |
| 4 | import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw; |
| 5 | import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain; |
| 6 | |
| 7 | import edu.wpi.first.wpilibj.Compressor; |
| 8 | import edu.wpi.first.wpilibj.IterativeRobot; |
| 9 | import edu.wpi.first.wpilibj.Timer; |
| 10 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 11 | |
| 12 | public class Robot extends IterativeRobot { |
| 13 | static Timer timer; |
| 14 | public static OI oi; |
| 15 | public static DriveTrain driveTrain; |
| 16 | public static Arm arm; |
| 17 | public static Claw claw; |
| 18 | public static Compressor compressor; |
| 19 | |
| 20 | public void robotInit() { |
| 21 | RobotMap.init(); |
| 22 | driveTrain = new DriveTrain(); |
| 23 | arm = new Arm(); |
| 24 | claw = new Claw(); |
| 25 | oi = new OI(); |
| 26 | compressor = new Compressor(RobotMap.COMPRESSOR_PORT); |
| 27 | } |
| 28 | |
| 29 | public void autonomousInit() { |
| 30 | } |
| 31 | |
| 32 | public void autonomousPeriodic() { |
| 33 | Scheduler.getInstance().run(); |
| 34 | } |
| 35 | |
| 36 | public void teleopInit() { |
| 37 | System.out.println("running teleopInit"); |
| 38 | } |
| 39 | |
| 40 | public void teleopPeriodic() { |
| 41 | Scheduler.getInstance().run(); |
| 42 | |
| 43 | } |
| 44 | |
| 45 | public void operate() { |
| 46 | driveTrain.arcadeDrive(OI.rightJoystick.getY(), |
| 47 | OI.rightJoystick.getTwist()); |
| 48 | claw.doTriggerAction(); |
| 49 | if (OI.leftJoystick.getRawButton(8)) { |
| 50 | arm.setArmSpeeds(0.3); |
| 51 | } else if (OI.leftJoystick.getRawButton(9)) { |
| 52 | arm.setArmSpeeds(-0.3); |
| 53 | } else if (OI.leftJoystick.getRawButton(6)) { |
| 54 | arm.setLeft(0.3); |
| 55 | } else if (OI.leftJoystick.getRawButton(7)) { |
| 56 | arm.setLeft(-0.3); |
| 57 | } else if (OI.leftJoystick.getRawButton(11)) { |
| 58 | arm.setRight(-0.3); |
| 59 | } else if (OI.leftJoystick.getRawButton(10)) { |
| 60 | arm.setRight(0.3); |
| 61 | } |
| 62 | if (Math.abs(OI.leftJoystick.getY()) < 0.05) { |
| 63 | arm.setArmSpeeds(0); |
| 64 | |
| 65 | } else { |
| 66 | arm.fineTuneControl(OI.leftJoystick.getY()); |
| 67 | } |
| 68 | } |
| 69 | } |