Commiting so I can push.

[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 f2cc324f397ee78a66822887a761b5cfb65c2ec8..008369aecf8f9838b9cf88079d13e60aba90dfae 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,9 +1,11 @@
 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.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.cscore.AxisCamera;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -11,12 +13,34 @@ public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
+  private static Intake intake;
+  // private static UsbCamera usbCamera;
+  private static CameraServer cameraServer2;
+  private static AxisCamera axisCamera;
+  private static CameraFeeds cameraFeeds;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
     shooter = Shooter.getShooter();
+    intake = Intake.getIntake();
+
+    usbCamera = CameraServer.getInstance().startAutomaticCapture();
+
+    // cameraServer2 = CameraServer;getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+    cameraServer2 = CameraServer.getInstance();
+    axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+    cameraFeeds = new CameraFeeds();
+
+    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+    // CameraServer.getInstance().startAutomaticCapture();
+    // cameraServer2 = CameraServer.getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+    // cameraFeeds = new CameraFeeds();
 
   }
 
@@ -32,9 +56,15 @@ public class Robot extends IterativeRobot {
     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() {
-    Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+    driveTrain.setHighGear();
   }
 
   @Override
@@ -45,11 +75,17 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+<<<<<<< HEAD
+
+=======
+    cameraFeeds.init();
+>>>>>>> implement CameraFeeds into robot.java and add todos
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    cameraFeeds.run();
 
   }
 }