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.DriveTrain;
   5 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   6
   7 import edu.wpi.cscore.AxisCamera;
   8 import edu.wpi.cscore.UsbCamera;
   9 import edu.wpi.first.wpilibj.CameraServer;
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12
  13 public class Robot extends IterativeRobot {
  14   private static DriveTrain driveTrain;
  15   private static OI oi;
  16   private static Shooter shooter;
  17   private static UsbCamera camera1;
  18   private static AxisCamera camera2;
  19
  20   @Override
  21   public void robotInit() {
  22     driveTrain = DriveTrain.getDriveTrain();
  23     oi = OI.getOI();
  24     shooter = Shooter.getShooter();
  25     camera1 = CameraServer.getInstance().startAutomaticCapture();
  26     camera2 = CameraServer.getInstance().addAxisCamera("10.35.1.11");
  27
  28   }
  29
  30   public static DriveTrain getDriveTrain() {
  31     return DriveTrain.getDriveTrain();
  32   }
  33
  34   public static OI getOI() {
  35     return OI.getOI();
  36   }
  37
  38   public static Shooter getShooter() {
  39     return Shooter.getShooter();
  40   }
  41
  42   @Override
  43   public void autonomousInit() {
  44     Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
  45   }
  46
  47   @Override
  48   public void autonomousPeriodic() {
  49     Scheduler.getInstance().run();
  50
  51   }
  52
  53   @Override
  54   public void teleopInit() {
  55   }
  56
  57   @Override
  58   public void teleopPeriodic() {
  59     Scheduler.getInstance().run();
  60
  61   }
  62 }