import org.usfirst.frc.team3501.robot.subsystems.Intake;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.cscore.AxisCamera;
-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 static UsbCamera usbCamera;
- private static CameraServer cameraServer2;
- private static AxisCamera axisCamera;
+ // private static UsbCamera usbCamera;
+ // private static CameraServer cameraServer2;
+ // private static AxisCamera axisCamera;
+ private static CameraFeeds cameraFeeds;
@Override
public void robotInit() {
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
- usbCamera = CameraServer.getInstance().startAutomaticCapture();
- cameraServer2 = CameraServer.getInstance();
- axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+ cameraFeeds = CameraFeeds.getCameraFeeds();
+
}
public static DriveTrain getDriveTrain() {
return Shooter.getShooter();
}
+ public static CameraFeeds getCameraFeeds() {
+ return cameraFeeds;
+ }
+
public static OI getOI() {
return OI.getOI();
}
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() {
+ driveTrain.setHighGear();
}
@Override
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
}