fix Robot.java bug: intantiate IntakeArm subsystem, not constants

[3501/stronghold-2016] / 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 49921b2e56a5dacd19535f2468ae454873501ba8..f4001774cf4e607cfcbb9aa3e1763557c1cf0eda 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,40 +7,28 @@ import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
-  public static OI oi;
-  public static DriveTrain driveTrain;
-  public static Shooter shooter;
-
-  public static Scaler scaler;
-  public static DefenseArm defenseArm;
-  public static IntakeArm intakeArm;
+       public static OI oi;
+       public static DriveTrain driveTrain;
+       public static Shooter shooter;
+       public static Scaler scaler;
+       public static IntakeArm intakeArm;
+       public static DefenseArm defenseArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-  positionFourDefense, positionFiveDefense;
-
-  // Gyro stuff
-  private final static double NANOSECONDS_PER_SECOND = 1000000000;
-  short rawValue;
-  public GyroClass gyro;
-
-  double degreesIncreased;
-  double degrees;
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
-    // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68);
-    // oi = new OI();
-
+    driveTrain = new DriveTrain();
+    oi = new OI();
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
@@ -50,10 +38,10 @@ public class Robot extends IterativeRobot {
     // and the positions of the defenses from a drop-down menu on the Smart
     // Dashboard
     // make the Sendable Choosers
-    // initializeSendableChoosers();
-    // addPositionChooserOptions();
-    // addDefensesToAllDefenseSendableChooosers();
-    // sendSendableChoosersToSmartDashboard();
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChooosers();
+    sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -103,14 +91,6 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
-
-    SmartDashboard.putData("Position Four Defense Chooser",
-        positionFourDefense);
-    SmartDashboard.putData("Position Five Defense Chooser",
-        positionFiveDefense);
-
-    shooter = new Shooter();
-
   }
 
   @Override
@@ -150,6 +130,6 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-  }
 
+  }
 }