X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=24eca3c88ea8f863ad58c6b612f7d527dae930e6;hb=b70398a7d5ac5f4ce64156d84227ccb4828c0615;hp=9d178dadd1796ec79f931ff99f7c02610d2bf2bc;hpb=6a36392421863a0d06dc2f1aad25c94678274346;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 9d178da..24eca3c 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,57 +1,59 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
-import org.usfirst.frc.team3501.robot.subsystems.Climber;
 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.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
-  private static OI oi;
-  private static Climber climber;
   private static Shooter shooter;
+  private static OI oi;
+  private static Intake intake;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
-    climber = Climber.getClimber();
     shooter = Shooter.getShooter();
-
+    intake = Intake.getIntake();
+    CameraServer server = CameraServer.getInstance();
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
   }
 
   public static DriveTrain getDriveTrain() {
     return DriveTrain.getDriveTrain();
   }
 
-  public static Climber getClimber() {
-    return Climber.getClimber();
+  public static Shooter getShooter() {
+    return Shooter.getShooter();
   }
 
   public static OI getOI() {
     return OI.getOI();
   }
 
-  public static Climber getClimber() {
-    return Climber.getClimber();
-  }
-
-  public static Shooter getShooter() {
-    return Shooter.getShooter();
+  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
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
@@ -61,6 +63,14 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    updateSmartDashboard();
+  }
 
+  public void updateSmartDashboard() {
+    SmartDashboard.putNumber("angle", driveTrain.getAngle());
+    SmartDashboard.putNumber("voltage",
+        DriverStation.getInstance().getBatteryVoltage());
+    SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
+    SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
   }
 }