package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
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;
private static DriveTrain driveTrain;
private static Shooter shooter;
private static OI oi;
- 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() {
oi = OI.getOI();
shooter = Shooter.getShooter();
intake = Intake.getIntake();
+ cameraServer2 = CameraServer.getInstance();
+ axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+ cameraFeeds = new CameraFeeds();
+ cameraFeeds = CameraFeeds.getCameraFeeds();
+
+ // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+
+ // cameraServer2 = CameraServer;getInstance();
+ // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+ // cameraServer2 = CameraServer.getInstance();
+ // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+ // 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 Shooter.getShooter();
}
- public static OI getOI() {
- return OI.getOI();
+ public static CameraFeeds getCameraFeeds() {
+ return cameraFeeds;
}
public static OI getOI() {
return Intake.getIntake();
}
- public static Intake getIntake() {
- 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() {
- Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+ driveTrain.setHighGear();
}
@Override
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
}