package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
-import org.usfirst.frc.team3501.robot.subsystems.Climber;
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;
public class Robot extends IterativeRobot {
private static DriveTrain driveTrain;
- private static OI oi;
- private static Climber climber;
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();
- climber = Climber.getClimber();
shooter = Shooter.getShooter();
-
+ intake = Intake.getIntake();
+ // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+ // CameraServer.getInstance().startAutomaticCapture();
+ // cameraServer2 = CameraServer.getInstance();
+ // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+ // cameraFeeds = new CameraFeeds();
}
public static DriveTrain getDriveTrain() {
return DriveTrain.getDriveTrain();
}
- public static Climber getClimber() {
- return Climber.getClimber();
+ public static Shooter getShooter() {
+ return Shooter.getShooter();
}
public static OI getOI() {
return OI.getOI();
}
- public static Climber getClimber() {
- return Climber.getClimber();
- }
-
- public static Shooter getShooter() {
- return Shooter.getShooter();
+ public static Intake getIntake() {
+ return Intake.getIntake();
}
@Override
public void autonomousInit() {
- Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
}
@Override
@Override
public void teleopInit() {
+ cameraFeeds.init();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+
}
}