Create branch just to run USB Camera.

[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 908a52dcf0339b44735147d174f069500b873280..626f378825bf9ef399537c0a27e28e7f4d903b7d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,13 +1,11 @@
 package org.usfirst.frc.team3501.robot;
 
-<<<<<<< HEAD
-=======
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
->>>>>>> fix bugs
 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.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -16,6 +14,8 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private CameraServer server;
+  private static UsbCamera intakeCam;
 
   @Override
   public void robotInit() {
@@ -23,6 +23,8 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+    server = CameraServer.getInstance();
+    intakeCam = server.startAutomaticCapture();
   }
 
   public static DriveTrain getDriveTrain() {
@@ -41,12 +43,11 @@ 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() {
-<<<<<<< HEAD
-=======
-    Scheduler.getInstance().add(new DriveDistance(25, 10));
->>>>>>> fix bugs
+    driveTrain.setHighGear();
   }
 
   @Override
@@ -57,11 +58,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }