challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/Robot.java

   1 package org.usfirst.frc3501.RiceCatRobot;
   2
   3 import org.usfirst.frc3501.RiceCatRobot.commands.LimitSwitchTest;
   4 import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
   5 import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
   6 import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
   7
   8 import edu.wpi.first.wpilibj.Compressor;
   9 import edu.wpi.first.wpilibj.IterativeRobot;
  10 import edu.wpi.first.wpilibj.Timer;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12
  13 public class Robot extends IterativeRobot {
  14   static Timer timer;
  15   public static OI oi;
  16   public static DriveTrain driveTrain;
  17   public static Arm arm;
  18   public static Claw claw;
  19   public static Compressor compressor;
  20
  21   public void robotInit() {
  22     RobotMap.init();
  23     driveTrain = new DriveTrain();
  24     arm = new Arm();
  25     claw = new Claw();
  26     oi = new OI();
  27     compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
  28   }
  29
  30   public void autonomousInit() {
  31   }
  32
  33   public void autonomousPeriodic() {
  34     Scheduler.getInstance().run();
  35   }
  36
  37   public void teleopInit() {
  38     System.out.println("running teleopInit");
  39     Scheduler.getInstance().add(new LimitSwitchTest());
  40   }
  41
  42   public void teleopPeriodic() {
  43     Scheduler.getInstance().run();
  44
  45   }
  46
  47   public void operate() {
  48     driveTrain
  49         .arcadeDrive(OI.rightJoystick.getY(), OI.rightJoystick.getTwist());
  50     claw.doTriggerAction();
  51     if (OI.leftJoystick.getRawButton(8)) {
  52       arm.setArmSpeeds(0.3);
  53     } else if (OI.leftJoystick.getRawButton(9)) {
  54       arm.setArmSpeeds(-0.3);
  55     } else if (OI.leftJoystick.getRawButton(6)) {
  56       arm.setLeft(0.3);
  57     } else if (OI.leftJoystick.getRawButton(7)) {
  58       arm.setLeft(-0.3);
  59     } else if (OI.leftJoystick.getRawButton(11)) {
  60       arm.setRight(-0.3);
  61     } else if (OI.leftJoystick.getRawButton(10)) {
  62       arm.setRight(0.3);
  63     }
  64     if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
  65       arm.setArmSpeeds(0);
  66
  67     } else {
  68       arm.fineTuneControl(OI.leftJoystick.getY());
  69     }
  70   }
  71 }