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Create branch just to run USB Camera.
[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 8e98834a47f60a7d2e50b9f4b12d9a31b934afea..626f378825bf9ef399537c0a27e28e7f4d903b7d 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/
src/org/usfirst/frc/team3501/robot/Robot.java
@@
-1,32
+1,53
@@
package org.usfirst.frc.team3501.robot;
package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
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 edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
public class Robot extends IterativeRobot {
private static DriveTrain driveTrain;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
public class Robot extends IterativeRobot {
private static DriveTrain driveTrain;
+ private static Shooter shooter;
private static OI oi;
private static OI oi;
+ private static Intake intake;
+ private CameraServer server;
+ private static UsbCamera intakeCam;
@Override
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
@Override
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
+ shooter = Shooter.getShooter();
+ intake = Intake.getIntake();
+ server = CameraServer.getInstance();
+ intakeCam = server.startAutomaticCapture();
}
public static DriveTrain getDriveTrain() {
return DriveTrain.getDriveTrain();
}
}
public static DriveTrain getDriveTrain() {
return DriveTrain.getDriveTrain();
}
+ public static Shooter getShooter() {
+ return Shooter.getShooter();
+ }
+
public static OI getOI() {
return OI.getOI();
}
public static OI getOI() {
return OI.getOI();
}
+ 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(
);
}
@Override
}
@Override
@@
-37,11
+58,11
@@
public class Robot extends IterativeRobot {
@Override
public void teleopInit() {
@Override
public void teleopInit() {
+
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
}
}
}