X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=d467182080a4343d91d6fd6bcefd22ca8310659e;hb=9ea6a533269dd1a8f9f684b3bbd90ae4b17478db;hp=cc6f1459df0a1d046493936422f2b7d2645094c0;hpb=ac25505b36b679df7b208cfdfc9177a2f27f4c36;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index cc6f145..d467182 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() {
@@ -22,6 +25,24 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+
+    cameraFeeds = CameraFeeds.getCameraFeeds();
+
+    // 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");
+
+    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
+    // CameraServer.getInstance().startAutomaticCapture();
+    // cameraServer2 = CameraServer.getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+
+    // cameraFeeds = new CameraFeeds();
+
   }
 
   public static DriveTrain getDriveTrain() {
@@ -32,8 +53,8 @@ public class Robot extends IterativeRobot {
     return Shooter.getShooter();
   }
 
-  public static OI getOI() {
-    return OI.getOI();
+  public static CameraFeeds getCameraFeeds() {
+    return cameraFeeds;
   }
 
   public static OI getOI() {
@@ -41,12 +62,14 @@ 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
@@ -57,6 +80,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override