Commiting so I can push.

[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 baf2e66cbf963a36be871d513d1fc154af7f7d65..e3b2058b42fc6ec2d7a12a8a0f4ef30a666a490f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,28 +1,53 @@
 package org.usfirst.frc.team3501.robot;
 
 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;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
+  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 CameraFeeds cameraFeeds;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     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();
   }
 
   public static DriveTrain getDriveTrain() {
     return DriveTrain.getDriveTrain();
   }
 
+  public static Shooter getShooter() {
+    return Shooter.getShooter();
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
 
+  public static Intake getIntake() {
+    return Intake.getIntake();
+  }
+
   @Override
   public void autonomousInit() {
   }
@@ -35,11 +60,13 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    cameraFeeds.init();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    cameraFeeds.run();
 
   }
 }