change package names

[3501/2015-FRC-Spark] / src / org / usfirst / frc3501 / RiceCatRobot / robot / Robot.java

diff --git a/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java b/src/org/usfirst/frc3501/RiceCatRobot/robot/Robot.java
new file mode 100644 (file)
index 0000000..1191d0e
--- /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());
+        }
+    }
+}