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.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
private static DriveTrain driveTrain;
private static Shooter shooter;
private static OI oi;
+ private static Intake intake;
@Override
public void robotInit() {
driveTrain = DriveTrain.getDriveTrain();
oi = OI.getOI();
shooter = Shooter.getShooter();
-
+ intake = Intake.getIntake();
+ CameraServer server = CameraServer.getInstance();
+ UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+ UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
}
public static DriveTrain getDriveTrain() {
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
public void autonomousPeriodic() {
Scheduler.getInstance().run();
-
}
@Override
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+ updateSmartDashboard();
+ }
+ public void updateSmartDashboard() {
+ SmartDashboard.putNumber("angle", driveTrain.getAngle());
+ SmartDashboard.putNumber("voltage",
+ DriverStation.getInstance().getBatteryVoltage());
+ SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
+ SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
}
}