Fix conflict in indexer piston

[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 e6ad60d6482c586bd9221e7aa1f42db1b6d17ed4..66b7f47dd13c1b47c9858dfbeeb1f67ff64f3610 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private static CameraServer server;
 
   @Override
   public void robotInit() {
@@ -23,12 +24,16 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-    CameraServer server = CameraServer.getInstance();
+
+    server = CameraServer.getInstance();
     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   public static DriveTrain getDriveTrain() {
+
     return DriveTrain.getDriveTrain();
   }
 
@@ -44,11 +49,20 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
+  public static void swapCameraFeed() {
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+  }
+
   // 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();
+<<<<<<< HEAD
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
+=======
+>>>>>>> Add code to toggle agitator pistons in RunIndexWheelContinuous
   }
 
   @Override
@@ -58,19 +72,36 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   @Override
   public void teleopPeriodic() {
+    // driveTrain.printEncoderOutput();
     Scheduler.getInstance().run();
     updateSmartDashboard();
   }
 
+  @Override
+  public void disabledInit() {
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
+  }
+  //
+  // @Override
+  // public void disabledPeriodic() {
+  // Scheduler.getInstance().add(new RunFlyWheel(2));
+  // }
+
   public void updateSmartDashboard() {
+    SmartDashboard.putNumber("left encode ",
+        driveTrain.getLeftEncoderDistance());
+    SmartDashboard.putNumber("right encoder",
+        driveTrain.getRightEncoderDistance());
     SmartDashboard.putNumber("angle", driveTrain.getAngle());
     SmartDashboard.putNumber("voltage",
         DriverStation.getInstance().getBatteryVoltage());
     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
-    SmartDashboard.putNumber("motor value", shooter.getCurrentShootingSpeed());
+    SmartDashboard.putNumber("target shooting",
+        shooter.getTargetShootingSpeed());
   }
 }