X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=8151cde6533837bd15907b3d37a795564a262e6e;hb=150f450f2b4f9e6094d71007507a7b877e05328a;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..8151cde 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,19 +1,31 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear;
+import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear;
+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 org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
+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.Command;
 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 {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
-  private HallEffectSensor hallEffect;
+  private static Climber climber;
+
+  Command autonCommand;
+  SendableChooser autonChooser;
 
   @Override
   public void robotInit() {
@@ -21,8 +33,23 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+    climber = Climber.getClimber();
+
+    autonChooser = new SendableChooser();
+    autonChooser.addDefault("Middle Gear", new AutonMiddleGear());
+    autonChooser.addObject("Red Boiler Gear",
+        new AutonSideGear("RED", "BOILER"));
+    autonChooser.addObject("Red Retrieval Gear",
+        new AutonSideGear("RED", "RETRIEVAL"));
+    autonChooser.addObject("Blue Boiler Gear",
+        new AutonSideGear("BLUE", "BOILER"));
+    autonChooser.addObject("Blue Retrieval Gear",
+        new AutonSideGear("BLUE", "RETRIEVAL"));
+    SmartDashboard.putData("Autonomous Chooser", autonChooser);
 
-    hallEffect = Shooter.getHallEffectSensor();
+    CameraServer server = CameraServer.getInstance();
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -41,27 +68,45 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
-  // If the gear values do not match in the left and right piston, then they are
-  // both set to high gear
+  public static Climber getClimber() {
+    return Climber.getClimber();
+  }
+
   @Override
   public void autonomousInit() {
-    driveTrain.setHighGear();
+    driveTrain.setLowGear();
+
+    // autonCommand = (Command) autonChooser.getSelected();
+    autonCommand = new TimeDrive(2, 0.6);
+    Scheduler.getInstance().add(autonCommand);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
   public void teleopInit() {
-
+    driveTrain.setHighGear();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
+    updateSmartDashboard();
+  }
+
+  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("target shooting",
+        shooter.getTargetShootingSpeed());
   }
 }