X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Frobot%2FRobot.java;fp=src%2Forg%2Fusfirst%2Ffrc3501%2FRiceCatRobot%2Frobot%2FRobot.java;h=e83f800531d8d2c901e41e88b4e8eac5caaac0f7;hb=eb9e6bd8da48f0833680f6e6705542bacacd4dd8;hp=0000000000000000000000000000000000000000;hpb=de4f822fbfd21dd7421f56b749240e7b11d9bc5c;p=3501%2F2015-FRC-Spark

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java b/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
new file mode 100644
index 0000000..e83f800
--- /dev/null
+++ b/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
@@ -0,0 +1,69 @@
+package org.usfirst.frc3501.RiceCatRobot.robot;
+
+import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
+import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
+import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
+
+import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.command.Scheduler;
+
+public class Robot extends IterativeRobot {
+  static Timer timer;
+  public static OI oi;
+  public static DriveTrain driveTrain;
+  public static Arm arm;
+  public static Claw claw;
+  public static Compressor compressor;
+
+  public void robotInit() {
+    RobotMap.init();
+    driveTrain = new DriveTrain();
+    arm = new Arm();
+    claw = new Claw();
+    oi = new OI();
+    compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
+  }
+
+  public void autonomousInit() {
+  }
+
+  public void autonomousPeriodic() {
+    Scheduler.getInstance().run();
+  }
+
+  public void teleopInit() {
+    System.out.println("running teleopInit");
+  }
+
+  public void teleopPeriodic() {
+    Scheduler.getInstance().run();
+
+  }
+
+  public void operate() {
+    driveTrain
+        .arcadeDrive(OI.rightJoystick.getY(), OI.rightJoystick.getTwist());
+    claw.doTriggerAction();
+    if (OI.leftJoystick.getRawButton(8)) {
+      arm.setArmSpeeds(0.3);
+    } else if (OI.leftJoystick.getRawButton(9)) {
+      arm.setArmSpeeds(-0.3);
+    } else if (OI.leftJoystick.getRawButton(6)) {
+      arm.setLeft(0.3);
+    } else if (OI.leftJoystick.getRawButton(7)) {
+      arm.setLeft(-0.3);
+    } else if (OI.leftJoystick.getRawButton(11)) {
+      arm.setRight(-0.3);
+    } else if (OI.leftJoystick.getRawButton(10)) {
+      arm.setRight(0.3);
+    }
+    if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
+      arm.setArmSpeeds(0);
+
+    } else {
+      arm.fineTuneControl(OI.leftJoystick.getY());
+    }
+  }
+}