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.Scheduler;
  13
  14 public class Robot extends IterativeRobot {
  15   private static DriveTrain driveTrain;
  16   private static OI oi;
  17   private static Climber climber;
  18   private static Shooter shooter;
  19   private static AxisCamera camera1;
  20   private static UsbCamera camera2;
  21
  22   @Override
  23   public void robotInit() {
  24     driveTrain = DriveTrain.getDriveTrain();
  25     oi = OI.getOI();
  26     climber = Climber.getClimber();
  27     shooter = Shooter.getShooter();
  28
  29     CameraServer server = CameraServer.getInstance();
  30     camera1 = server.addAxisCamera("10.35.1.11");
  31     camera2 = server.startAutomaticCapture();
  32   }
  33
  34   public static DriveTrain getDriveTrain() {
  35     return DriveTrain.getDriveTrain();
  36   }
  37
  38   public static OI getOI() {
  39     return OI.getOI();
  40   }
  41
  42   public static Climber getClimber() {
  43     return Climber.getClimber();
  44   }
  45
  46   public static Shooter getShooter() {
  47     return Shooter.getShooter();
  48   }
  49
  50   @Override
  51   public void autonomousInit() {
  52     Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
  53   }
  54
  55   @Override
  56   public void autonomousPeriodic() {
  57     Scheduler.getInstance().run();
  58
  59   }
  60
  61   @Override
  62   public void teleopInit() {
  63   }
  64
  65   @Override
  66   public void teleopPeriodic() {
  67     Scheduler.getInstance().run();
  68
  69   }
  70
  71 }