X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=515483c974c7131928737f4c24d241ddd4f9278d;hb=refs%2Fheads%2Fchris%2FautonGearStrategy;hp=6d1094c641ad98d7c42147e69f507e5bcb5bb64e;hpb=268b004857f2e73159cccfc18edeff7ad33dfe78;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 6d1094c..515483c 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,10 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commandgroups.AutonGearThenBaselinePegCloseToBoiler;
 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 org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -13,7 +15,6 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
-  private HallEffectSensor hallEffect;
 
   @Override
   public void robotInit() {
@@ -21,8 +22,9 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-
-    hallEffect = Shooter.getHallEffectSensor();
+    CameraServer server = CameraServer.getInstance();
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -46,22 +48,22 @@ public class Robot extends IterativeRobot {
   @Override
   public void autonomousInit() {
     driveTrain.setHighGear();
+    Scheduler.getInstance()
+        .add(new AutonGearThenBaselinePegCloseToBoiler("RETRIEVAL", 0));
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
   public void teleopInit() {
-
+    Scheduler.getInstance().removeAll();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
   }
 }