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 org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
private static Shooter shooter;
private static OI oi;
private static Intake intake;
- private HallEffectSensor hallEffect;
+ private CameraServer server;
+ private static UsbCamera intakeCam;
@Override
public void robotInit() {
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
-
- hallEffect = Shooter.getHallEffectSensor();
+ server = CameraServer.getInstance();
+ intakeCam = server.startAutomaticCapture();
}
public static DriveTrain getDriveTrain() {
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
- System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
}
}