X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=3778ad0e30dbc7d9ff561a2f502ed927610234ca;hb=d1930cd9ed9720c44bc9471b7741f4218f5da842;hp=24eca3c88ea8f863ad58c6b612f7d527dae930e6;hpb=b70398a7d5ac5f4ce64156d84227ccb4828c0615;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 24eca3c..3778ad0 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private static CameraServer server;
 
   @Override
   public void robotInit() {
@@ -23,12 +24,16 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-    CameraServer server = CameraServer.getInstance();
+
+    server = CameraServer.getInstance();
     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   public static DriveTrain getDriveTrain() {
+
     return DriveTrain.getDriveTrain();
   }
 
@@ -44,11 +49,25 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
+  public static void swapCameraFeed() {
+    if (Intake.getIntake().getIntakeCameraFeed() == 1) {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+      Intake.getIntake().setIntakeCameraFeed(0);
+    } else {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+      Intake.getIntake().setIntakeCameraFeed(1);
+    }
+
+  }
+
   // 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() {
     driveTrain.setHighGear();
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   @Override
@@ -58,19 +77,36 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   @Override
   public void teleopPeriodic() {
+    // driveTrain.printEncoderOutput();
     Scheduler.getInstance().run();
     updateSmartDashboard();
   }
 
+  @Override
+  public void disabledInit() {
+    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
+  }
+  //
+  // @Override
+  // public void disabledPeriodic() {
+  // Scheduler.getInstance().add(new RunFlyWheel(2));
+  // }
+
   public void updateSmartDashboard() {
+    SmartDashboard.putNumber("left encode ",
+        driveTrain.getLeftEncoderDistance());
+    SmartDashboard.putNumber("right encoder",
+        driveTrain.getRightEncoderDistance());
     SmartDashboard.putNumber("angle", driveTrain.getAngle());
     SmartDashboard.putNumber("voltage",
         DriverStation.getInstance().getBatteryVoltage());
     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
-    SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
+    SmartDashboard.putNumber("target shooting",
+        shooter.getTargetShootingSpeed());
   }
 }