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.subsystems.DriveTrain;
   4 import org.usfirst.frc.team3501.robot.utils.BNO055;
   5
   6 import edu.wpi.first.wpilibj.I2C.Port;
   7 import edu.wpi.first.wpilibj.IterativeRobot;
   8 import edu.wpi.first.wpilibj.command.Scheduler;
   9
  10 public class Robot extends IterativeRobot {
  11   private static DriveTrain driveTrain;
  12   private static OI oi;
  13   private static BNO055 imu;
  14
  15   @Override
  16   public void robotInit() {
  17     driveTrain = DriveTrain.getDriveTrain();
  18     oi = OI.getOI();
  19     // declares IMU object to the connected port
  20     imu = BNO055.getInstance(BNO055.opmode_t.OPERATION_MODE_IMUPLUS,
  21         BNO055.vector_type_t.VECTOR_EULER, Port.kOnboard, (byte) 0x28);
  22
  23     // check if the robot is at the reference angle
  24     if (imu.getHeading() == 0) {
  25       System.out.println("At zero reference");
  26     }
  27   }
  28
  29   public static DriveTrain getDriveTrain() {
  30     return DriveTrain.getDriveTrain();
  31   }
  32
  33   public static OI getOI() {
  34     return OI.getOI();
  35   }
  36
  37   @Override
  38   public void autonomousInit() {
  39
  40   }
  41
  42   @Override
  43   public void autonomousPeriodic() {
  44     Scheduler.getInstance().run();
  45
  46   }
  47
  48   // @Override
  49   @Override
  50   public void teleopInit() {
  51
  52   }
  53
  54   @Override
  55   public void teleopPeriodic() {
  56     Scheduler.getInstance().run();
  57     if (imu.isInitialized()) {
  58       System.out.println(imu.getHeading());
  59     }
  60     // System.out.println("Heading: "
  61     // + imu.getHeading() + " Init: "
  62     // + imu.isInitialized() + " Calib: " + imu.isCalibrated());
  63   }
  64 }