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 e3b2058b42fc6ec2d7a12a8a0f4ef30a666a490f..655b3427585bed2d4d8b09be073896388a956d8a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -4,8 +4,6 @@ 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;
 
@@ -15,8 +13,8 @@ public class Robot extends IterativeRobot {
   private static OI oi;
   private static Intake intake;
   // private static UsbCamera usbCamera;
-  private static CameraServer cameraServer2;
-  private static AxisCamera axisCamera;
+  // private static CameraServer cameraServer2;
+  // private static AxisCamera axisCamera;
   private static CameraFeeds cameraFeeds;
 
   @Override
@@ -25,11 +23,9 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     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();
+
+    cameraFeeds = CameraFeeds.getCameraFeeds();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -40,6 +36,10 @@ public class Robot extends IterativeRobot {
     return Shooter.getShooter();
   }
 
+  public static CameraFeeds getCameraFeeds() {
+    return cameraFeeds;
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
@@ -48,8 +48,11 @@ 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() {
+    driveTrain.setHighGear();
   }
 
   @Override
@@ -60,13 +63,10 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    cameraFeeds.init();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    cameraFeeds.run();
-
   }
 }