Remove pointless code and add print commands.

[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 451d339ae849cb997e333c66564761b50fea6d58..655b3427585bed2d4d8b09be073896388a956d8a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,7 @@
 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.first.wpilibj.IterativeRobot;
@@ -11,12 +11,20 @@ public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   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();
     shooter = Shooter.getShooter();
+    intake = Intake.getIntake();
+
+    cameraFeeds = CameraFeeds.getCameraFeeds();
 
   }
 
@@ -28,17 +36,23 @@ public class Robot extends IterativeRobot {
     return Shooter.getShooter();
   }
 
+  public static CameraFeeds getCameraFeeds() {
+    return cameraFeeds;
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
 
-  public static Shooter getShooter() {
-    return Shooter.getShooter();
+  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
@@ -54,6 +68,5 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }