X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=626f378825bf9ef399537c0a27e28e7f4d903b7d;hb=refs%2Fheads%2FRayan%2FCamera;hp=8e98834a47f60a7d2e50b9f4b12d9a31b934afea;hpb=b081e34b72803bc0b4ec11f0ab7676596da59fde;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 8e98834..626f378 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,32 +1,53 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 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.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
+  private static Shooter shooter;
   private static OI oi;
+  private static Intake intake;
+  private CameraServer server;
+  private static UsbCamera intakeCam;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
+    shooter = Shooter.getShooter();
+    intake = Intake.getIntake();
+    server = CameraServer.getInstance();
+    intakeCam = server.startAutomaticCapture();
   }
 
   public static DriveTrain getDriveTrain() {
     return DriveTrain.getDriveTrain();
   }
 
+  public static Shooter getShooter() {
+    return Shooter.getShooter();
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
 
+  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
@@ -37,11 +58,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }