challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
   4 import org.usfirst.frc.team3501.robot.subsystems.Climber;
   5 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   6 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   7
   8 import edu.wpi.cscore.AxisCamera;
   9 import edu.wpi.cscore.UsbCamera;
  10 import edu.wpi.first.wpilibj.CameraServer;
  11 import edu.wpi.first.wpilibj.IterativeRobot;
  12 import edu.wpi.first.wpilibj.command.Command;
  13 import edu.wpi.first.wpilibj.command.Scheduler;
  14
  15 public class Robot extends IterativeRobot {
  16   private static DriveTrain driveTrain;
  17   private static OI oi;
  18   private static Climber climber;
  19   private static Shooter shooter;
  20   private static UsbCamera camera1;
  21   private static CameraServer cameraServer2;
  22   private static AxisCamera camera2;
  23
  24   @Override
  25   public void robotInit() {
  26     // driveTrain = DriveTrain.getDriveTrain();
  27     // oi = OI.getOI();
  28     // climber = Climber.getClimber();
  29     // shooter = Shooter.getShooter();
  30     camera1 = CameraServer.getInstance().startAutomaticCapture();
  31     // cameraServer2 = CameraServer.getInstance();
  32     // camera2 = cameraServer2.addAxisCamera("camera2", "10.35.1.11");
  33
  34     // Timer.delay(3);
  35     // System.out.println("====> 1");
  36     // cameraServer2.removeCamera("camera2");
  37     // Timer.delay(3);
  38     // Joystick leftJoystick = new Joystick(0);
  39     // Button button1 = new JoystickButton(leftJoystick, 1);
  40     // camera2 = cameraServer2.addAxisCamera("camera2", "10.35.1.11");
  41     // System.out.println("====> 2");
  42     // Timer.delay(3);
  43     // cameraServer2.removeCamera("camera2");
  44
  45     // button1.whenPressed(new JoystickButton1Pressed());
  46     // button1.whenReleased(new JoystickButton1Released());
  47
  48   }
  49
  50   public class JoystickButton1Pressed extends Command {
  51     public JoystickButton1Pressed() {
  52       // camera2.addAxisCamera("camera2", "10.35.1.11");
  53     }
  54
  55     @Override
  56     public boolean isFinished() {
  57       return true;
  58     }
  59   }
  60
  61   public class JoystickButton1Released extends Command {
  62     public JoystickButton1Released() {
  63       cameraServer2.removeCamera("camera2");
  64     }
  65
  66     @Override
  67     public boolean isFinished() {
  68       return true;
  69     }
  70   }
  71
  72   public static DriveTrain getDriveTrain() {
  73     return DriveTrain.getDriveTrain();
  74   }
  75
  76   public static OI getOI() {
  77     return OI.getOI();
  78   }
  79
  80   public static Climber getClimber() {
  81     return Climber.getClimber();
  82   }
  83
  84   public static Shooter getShooter() {
  85     return Shooter.getShooter();
  86   }
  87
  88   @Override
  89   public void autonomousInit() {
  90     Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
  91   }
  92
  93   @Override
  94   public void autonomousPeriodic() {
  95     Scheduler.getInstance().run();
  96
  97   }
  98
  99   @Override
 100   public void teleopInit() {
 101   }
 102
 103   @Override
 104   public void teleopPeriodic() {
 105     Scheduler.getInstance().run();
 106
 107   }
 108 }