import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear;
import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.Intake;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
private static Shooter shooter;
private static OI oi;
private static Intake intake;
+ private static Climber climber;
Command autonCommand;
SendableChooser autonChooser;
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
+ climber = Climber.getClimber();
autonChooser = new SendableChooser();
autonChooser.addDefault("Middle Gear", new AutonMiddleGear());
CameraServer 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 Intake.getIntake();
}
+ public static Climber getClimber() {
+ return Climber.getClimber();
+ }
+
@Override
public void autonomousInit() {
- // driveTrain.setLowGear();
- driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
+ driveTrain.setLowGear();
// autonCommand = (Command) autonChooser.getSelected();
- // autonCommand = new TimeDrive(1.5, 0.6);
- // Scheduler.getInstance().add(autonCommand);
+ autonCommand = new AutonMiddleGear();
+ Scheduler.getInstance().add(autonCommand);
}
@Override
@Override
public void teleopInit() {
- // driveTrain.setHighGear();
- driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
+ driveTrain.setHighGear();
}
@Override