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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 6d1094c641ad98d7c42147e69f507e5bcb5bb64e..515483c974c7131928737f4c24d241ddd4f9278d 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/
src/org/usfirst/frc/team3501/robot/Robot.java
@@
-1,10
+1,12
@@
package org.usfirst.frc.team3501.robot;
package org.usfirst.frc.team3501.robot;
+import org.usfirst.frc.team3501.robot.commandgroups.AutonGearThenBaselinePegCloseToBoiler;
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.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.Intake;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
+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;
@@
-13,7
+15,6
@@
public class Robot extends IterativeRobot {
private static Shooter shooter;
private static OI oi;
private static Intake intake;
private static Shooter shooter;
private static OI oi;
private static Intake intake;
- private HallEffectSensor hallEffect;
@Override
public void robotInit() {
@Override
public void robotInit() {
@@
-21,8
+22,9
@@
public class Robot extends IterativeRobot {
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
-
- hallEffect = Shooter.getHallEffectSensor();
+ CameraServer server = CameraServer.getInstance();
+ UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+ UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
}
public static DriveTrain getDriveTrain() {
}
public static DriveTrain getDriveTrain() {
@@
-46,22
+48,22
@@
public class Robot extends IterativeRobot {
@Override
public void autonomousInit() {
driveTrain.setHighGear();
@Override
public void autonomousInit() {
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();
- System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
}
}
}
}