challenge-bot.com Git - 3501/2015-FRC-Spark/blob - src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java

   1 package org.usfirst.frc3501.RiceCatRobot.robot;
   2
   3 import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm;
   4 import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw;
   5 import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain;
   6
   7 import edu.wpi.first.wpilibj.Compressor;
   8 import edu.wpi.first.wpilibj.IterativeRobot;
   9 import edu.wpi.first.wpilibj.Timer;
  10 import edu.wpi.first.wpilibj.command.Scheduler;
  11
  12 public class Robot extends IterativeRobot {
  13     static Timer timer;
  14     public static OI oi;
  15     public static DriveTrain driveTrain;
  16     public static Arm arm;
  17     public static Claw claw;
  18     public static Compressor compressor;
  19
  20     public void robotInit() {
  21         RobotMap.init();
  22         driveTrain = new DriveTrain();
  23         arm = new Arm();
  24         claw = new Claw();
  25         oi = new OI();
  26         compressor = new Compressor(RobotMap.COMPRESSOR_PORT);
  27     }
  28
  29     public void autonomousInit() {
  30     }
  31
  32     public void autonomousPeriodic() {
  33         Scheduler.getInstance().run();
  34     }
  35
  36     public void teleopInit() {
  37         System.out.println("running teleopInit");
  38     }
  39
  40     public void teleopPeriodic() {
  41         Scheduler.getInstance().run();
  42
  43     }
  44
  45     public void operate() {
  46         driveTrain.arcadeDrive(OI.rightJoystick.getY(),
  47                 OI.rightJoystick.getTwist());
  48         claw.doTriggerAction();
  49         if (OI.leftJoystick.getRawButton(8)) {
  50             arm.setArmSpeeds(0.3);
  51         } else if (OI.leftJoystick.getRawButton(9)) {
  52             arm.setArmSpeeds(-0.3);
  53         } else if (OI.leftJoystick.getRawButton(6)) {
  54             arm.setLeft(0.3);
  55         } else if (OI.leftJoystick.getRawButton(7)) {
  56             arm.setLeft(-0.3);
  57         } else if (OI.leftJoystick.getRawButton(11)) {
  58             arm.setRight(-0.3);
  59         } else if (OI.leftJoystick.getRawButton(10)) {
  60             arm.setRight(0.3);
  61         }
  62         if (Math.abs(OI.leftJoystick.getY()) < 0.05) {
  63             arm.setArmSpeeds(0);
  64
  65         } else {
  66             arm.fineTuneControl(OI.leftJoystick.getY());
  67         }
  68     }
  69 }