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Create methods for lidar to work
[3501/stronghold-2016]
/
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 051aac623c756d54bc2f5ecf1e3555ceafcebcb2..a86721d0a1a4ac73903f5ba6a2c63cae614c1137 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/
src/org/usfirst/frc/team3501/robot/Robot.java
@@
-5,6
+5,7
@@
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@
-21,12
+22,15
@@
public class Robot extends IterativeRobot {
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
+ public static Lidar lidar;
+
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
+ lidar = new Lidar(I2C.Port.kOnboard);
// Sendable Choosers allows the driver to select the position of the robot
// and the positions of the defenses from a drop-down menu on the Smart
// Sendable Choosers allows the driver to select the position of the robot
// and the positions of the defenses from a drop-down menu on the Smart
@@
-119,11
+123,18
@@
public class Robot extends IterativeRobot {
@Override
public void teleopInit() {
@Override
public void teleopInit() {
+ lidar.start();
}
@Override
public void teleopPeriodic() {
}
@Override
public void teleopPeriodic() {
+ printLidarValues();
Scheduler.getInstance().run();
}
Scheduler.getInstance().run();
}
+
+ public void printLidarValues() {
+
+ System.out.println(lidar.pidGet());
+ }
}
}