X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=c82f09f83336cb4ae7f171e712f86b9b573afc2d;hb=refs%2Fheads%2Fmaster;hp=36ca70bc268a526c02d33f5531c1d8d550fcbe90;hpb=38a404b33adc222b57179884470913cb4c0a011d;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 36ca70b..c82f09f 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,36 +1,111 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear;
+import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear;
+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.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 {
-  public static OI oi;
-  public static DriveTrain driveTrain;
+  private static DriveTrain driveTrain;
+  private static Shooter shooter;
+  private static OI oi;
+  private static Intake intake;
+  private static Climber climber;
+
+  Command autonCommand;
+  SendableChooser autonChooser;
 
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    driveTrain = DriveTrain.getDriveTrain();
+    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);
+
+    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 Shooter getShooter() {
+    return Shooter.getShooter();
+  }
+
+  public static OI getOI() {
+    return OI.getOI();
+  }
+
+  public static Intake getIntake() {
+    return Intake.getIntake();
+  }
+
+  public static Climber getClimber() {
+    return Climber.getClimber();
   }
 
   @Override
   public void autonomousInit() {
+    driveTrain.setLowGear();
+
+    // autonCommand = (Command) autonChooser.getSelected();
+    autonCommand = new AutonMiddleGear();
+    Scheduler.getInstance().add(autonCommand);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
   public void teleopInit() {
+    driveTrain.setHighGear();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    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());
   }
 }