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fix stuff
[3501/2017steamworks]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
Robot.java
diff --git
a/src/org/usfirst/frc/team3501/robot/Robot.java
b/src/org/usfirst/frc/team3501/robot/Robot.java
index 00ad1cb9d8f13168f8c5668f155c113f2bdbb09f..515483c974c7131928737f4c24d241ddd4f9278d 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/
src/org/usfirst/frc/team3501/robot/Robot.java
@@
-1,9
+1,12
@@
package org.usfirst.frc.team3501.robot;
package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.command
s.driving.TimeDrive
;
+import org.usfirst.frc.team3501.robot.command
groups.AutonGearThenBaselinePegCloseToBoiler
;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.Intake;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
@@
-11,14
+14,17
@@
public class Robot extends IterativeRobot {
private static DriveTrain driveTrain;
private static Shooter shooter;
private static OI oi;
private static DriveTrain driveTrain;
private static Shooter shooter;
private static OI oi;
- private static
Shooter shooter
;
+ private static
Intake intake
;
@Override
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
shooter = Shooter.getShooter();
@Override
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
shooter = Shooter.getShooter();
-
+ intake = Intake.getIntake();
+ CameraServer server = CameraServer.getInstance();
+ UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+ UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
}
public static DriveTrain getDriveTrain() {
}
public static DriveTrain getDriveTrain() {
@@
-33,28
+39,31
@@
public class Robot extends IterativeRobot {
return OI.getOI();
}
return OI.getOI();
}
- public static
Shooter getShooter
() {
- return
Shooter.getShooter
();
+ public static
Intake getIntake
() {
+ return
Intake.getIntake
();
}
}
+ // If the gear values do not match in the left and right piston, then they are
+ // both set to high gear
@Override
public void autonomousInit() {
@Override
public void autonomousInit() {
- Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+ driveTrain.setHighGear();
+ Scheduler.getInstance()
+ .add(new AutonGearThenBaselinePegCloseToBoiler("RETRIEVAL", 0));
}
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
-
}
@Override
public void teleopInit() {
}
@Override
public void teleopInit() {
+ Scheduler.getInstance().removeAll();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
}
}
}