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 FirebotGyro gyro;
-
- double initialSpeedNanoseconds;
- double finalSpeedNanoseconds;
- double initialSpeedSeconds;
- double finalSpeedSeconds;
- double deltaSpeed;
- double degrees;
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
- // driveTrain = new DriveTrain();
- gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
- // oi = new OI();
-
+ driveTrain = new DriveTrain();
+ oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
defenseArm = new DefenseArm();
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
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+
}
}