Move code to more updated branch.

[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 a9dd0ffca26c681bc26f422abca97d940cea553a..1ad62e1f4de0b8a7d9d6c262680d41a0e4b19ea3 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;
 
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 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.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -13,6 +15,9 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private static UsbCamera usbCamera;
+  private static CameraServer cameraServer2;
+  private static AxisCamera axisCamera;
 
   @Override
   public void robotInit() {
@@ -20,6 +25,11 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+
+    usbCamera = CameraServer.getInstance().startAutomaticCapture();
+    // cameraServer2 = CameraServer;getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -38,9 +48,11 @@ public class Robot extends IterativeRobot {
     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 DriveDistance(25, 10));
+    driveTrain.setHighGear();
   }
 
   @Override
@@ -51,6 +63,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override