X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=c8ef56804895f761c144b995680e0d31968d2628;hb=5bee67e1c82f6a9e7f12a1e217b1fb80beb616bf;hp=580173e19262c066bff984edfff37c9bb64478f5;hpb=08a5c955ede8f12caeec501cb2e7e43bac69e6b6;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 580173e..c8ef568 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,10 +1,11 @@
 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.AxisCamera;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -12,9 +13,11 @@ public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
-  private static Shooter shooter;
-  private static OI oi;
   private static Intake intake;
+  // private static UsbCamera usbCamera;
+  private static CameraServer cameraServer2;
+  private static AxisCamera axisCamera;
+  private static CameraFeeds cameraFeeds;
 
   @Override
   public void robotInit() {
@@ -22,18 +25,27 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-  }
 
-  public static DriveTrain getDriveTrain() {
-    return DriveTrain.getDriveTrain();
-  }
+    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+
+    // cameraServer2 = CameraServer;getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+    cameraServer2 = CameraServer.getInstance();
+    axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+    cameraFeeds = new CameraFeeds();
+
+    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+    // CameraServer.getInstance().startAutomaticCapture();
+    // cameraServer2 = CameraServer.getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+    // cameraFeeds = new CameraFeeds();
 
-  public static Shooter getShooter() {
-    return Shooter.getShooter();
   }
 
-  public static OI getOI() {
-    return OI.getOI();
+  public static DriveTrain getDriveTrain() {
+    return DriveTrain.getDriveTrain();
   }
 
   public static Shooter getShooter() {
@@ -45,12 +57,14 @@ public class Robot extends IterativeRobot {
   }
 
   public static Intake getIntake() {
-    return 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
@@ -61,6 +75,9 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
+    cameraFeeds.init();
+
   }
 
   @Override