Try to understand why axis camera does turn on while toggling.

[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 a5f15fb788558ec303e74196b4eb3fc64c8c2c93..9efe44f0480b4291a5e9aa5c8275847745b856b1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -5,7 +5,6 @@ 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;
@@ -15,7 +14,7 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
-  private static UsbCamera usbCamera;
+  // private static UsbCamera usbCamera;
   private static CameraServer cameraServer2;
   private static AxisCamera axisCamera;
   private static CameraFeeds cameraFeeds;
@@ -26,10 +25,12 @@ public class Robot extends IterativeRobot {
     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 = new CameraFeeds();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -48,8 +49,11 @@ 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
@@ -66,7 +70,5 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    cameraFeeds.run();
-
   }
 }