package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
-import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
-import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
+import org.usfirst.frc.team3501.robot.commands.auton.Auton;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
public class Robot extends IterativeRobot {
public static OI oi;
public static Shooter shooter;
public static IntakeArm intakeArm;
+ // Sendable Choosers send a drop down menu to the Smart Dashboard.
+ private static SendableChooser frontChooser;
+ private static CameraServer camera;
+
@Override
public void robotInit() {
driveTrain = new DriveTrain();
intakeArm = new IntakeArm();
oi = new OI();
+
+ camera = CameraServer.getInstance();
+ camera.setQuality(25);
+ camera.startAutomaticCapture("cam0");
}
@Override
public void autonomousInit() {
+ //
+ // Scheduler.getInstance().add(new
+ // MoveIntakeArm(Constants.IntakeArm.RETRACT));
+ // Scheduler.getInstance().add(new TimeDrive(1, .6));
+ // Scheduler.getInstance().add(new WaitCommand(1));
+ // Scheduler.getInstance().add(new
+ // MoveIntakeArm(Constants.IntakeArm.EXTEND));
+ Scheduler.getInstance().add(new Auton());
}
@Override
@Override
public void teleopInit() {
- Scheduler.getInstance().add(new SetHighGear());
- Scheduler.getInstance().add(new ResetCatapult());
- Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override