private static Shooter shooter;
private static OI oi;
private static Intake intake;
+ private static CameraServer server;
@Override
public void robotInit() {
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
- CameraServer server = CameraServer.getInstance();
+
+ server = CameraServer.getInstance();
UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
public static DriveTrain getDriveTrain() {
+
return DriveTrain.getDriveTrain();
}
return Intake.getIntake();
}
+ public static void swapCameraFeed() {
+ if (Intake.getIntake().getIntakeCameraFeed() == 1) {
+ UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
+ UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+ Intake.getIntake().setIntakeCameraFeed(0);
+ } else {
+ UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+ UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+ Intake.getIntake().setIntakeCameraFeed(1);
+ }
+
+ }
+
// 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() {
driveTrain.setHighGear();
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
@Override
@Override
public void teleopInit() {
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
@Override
public void teleopPeriodic() {
+ // driveTrain.printEncoderOutput();
Scheduler.getInstance().run();
updateSmartDashboard();
}
+ @Override
+ public void disabledInit() {
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
+ }
+ //
+ // @Override
+ // public void disabledPeriodic() {
+ // Scheduler.getInstance().add(new RunFlyWheel(2));
+ // }
+
public void updateSmartDashboard() {
+ SmartDashboard.putNumber("left encode ",
+ driveTrain.getLeftEncoderDistance());
+ SmartDashboard.putNumber("right encoder",
+ driveTrain.getRightEncoderDistance());
SmartDashboard.putNumber("angle", driveTrain.getAngle());
SmartDashboard.putNumber("voltage",
DriverStation.getInstance().getBatteryVoltage());
SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
- SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
+ SmartDashboard.putNumber("target shooting",
+ shooter.getTargetShootingSpeed());
}
}