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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
9ca89e45 CZ |
3 | import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear; |
4 | import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear; | |
150f450f CZ |
5 | import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive; |
6 | import org.usfirst.frc.team3501.robot.subsystems.Climber; | |
cca02549 | 7 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 8 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 10 | |
5d967c55 CZ |
11 | import edu.wpi.cscore.UsbCamera; |
12 | import edu.wpi.first.wpilibj.CameraServer; | |
1782cbad | 13 | import edu.wpi.first.wpilibj.DriverStation; |
38a404b3 | 14 | import edu.wpi.first.wpilibj.IterativeRobot; |
9ca89e45 | 15 | import edu.wpi.first.wpilibj.command.Command; |
38a404b3 | 16 | import edu.wpi.first.wpilibj.command.Scheduler; |
9ca89e45 | 17 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
1782cbad | 18 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
19 | |
20 | public class Robot extends IterativeRobot { | |
6acd1f1b | 21 | private static DriveTrain driveTrain; |
414d5638 | 22 | private static Shooter shooter; |
6acd1f1b | 23 | private static OI oi; |
6f3b6d29 | 24 | private static Intake intake; |
150f450f | 25 | private static Climber climber; |
38a404b3 | 26 | |
9ca89e45 CZ |
27 | Command autonCommand; |
28 | SendableChooser autonChooser; | |
29 | ||
38a404b3 KZ |
30 | @Override |
31 | public void robotInit() { | |
6acd1f1b CZ |
32 | driveTrain = DriveTrain.getDriveTrain(); |
33 | oi = OI.getOI(); | |
079a8cb6 | 34 | shooter = Shooter.getShooter(); |
6f3b6d29 | 35 | intake = Intake.getIntake(); |
150f450f | 36 | climber = Climber.getClimber(); |
f56e6ebf | 37 | |
9ca89e45 CZ |
38 | autonChooser = new SendableChooser(); |
39 | autonChooser.addDefault("Middle Gear", new AutonMiddleGear()); | |
40 | autonChooser.addObject("Red Boiler Gear", | |
41 | new AutonSideGear("RED", "BOILER")); | |
42 | autonChooser.addObject("Red Retrieval Gear", | |
43 | new AutonSideGear("RED", "RETRIEVAL")); | |
44 | autonChooser.addObject("Blue Boiler Gear", | |
45 | new AutonSideGear("BLUE", "BOILER")); | |
46 | autonChooser.addObject("Blue Retrieval Gear", | |
47 | new AutonSideGear("BLUE", "RETRIEVAL")); | |
48 | SmartDashboard.putData("Autonomous Chooser", autonChooser); | |
49 | ||
5d967c55 CZ |
50 | CameraServer server = CameraServer.getInstance(); |
51 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); | |
52 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); | |
cca02549 | 53 | } |
6acd1f1b CZ |
54 | |
55 | public static DriveTrain getDriveTrain() { | |
56 | return DriveTrain.getDriveTrain(); | |
cca02549 | 57 | } |
6acd1f1b | 58 | |
414d5638 | 59 | public static Shooter getShooter() { |
60 | return Shooter.getShooter(); | |
61 | } | |
62 | ||
6acd1f1b CZ |
63 | public static OI getOI() { |
64 | return OI.getOI(); | |
38a404b3 KZ |
65 | } |
66 | ||
6f3b6d29 | 67 | public static Intake getIntake() { |
7992f152 AD |
68 | return Intake.getIntake(); |
69 | } | |
70 | ||
150f450f CZ |
71 | public static Climber getClimber() { |
72 | return Climber.getClimber(); | |
73 | } | |
74 | ||
38a404b3 KZ |
75 | @Override |
76 | public void autonomousInit() { | |
150f450f | 77 | driveTrain.setLowGear(); |
9ca89e45 CZ |
78 | |
79 | // autonCommand = (Command) autonChooser.getSelected(); | |
150f450f CZ |
80 | autonCommand = new TimeDrive(2, 0.6); |
81 | Scheduler.getInstance().add(autonCommand); | |
38a404b3 KZ |
82 | } |
83 | ||
84 | @Override | |
85 | public void autonomousPeriodic() { | |
86 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
87 | } |
88 | ||
89 | @Override | |
90 | public void teleopInit() { | |
150f450f | 91 | driveTrain.setHighGear(); |
38a404b3 KZ |
92 | } |
93 | ||
94 | @Override | |
95 | public void teleopPeriodic() { | |
88ecb8d3 | 96 | Scheduler.getInstance().run(); |
1782cbad CZ |
97 | updateSmartDashboard(); |
98 | } | |
99 | ||
100 | public void updateSmartDashboard() { | |
f56e6ebf CZ |
101 | SmartDashboard.putNumber("left encode ", |
102 | driveTrain.getLeftEncoderDistance()); | |
103 | SmartDashboard.putNumber("right encoder", | |
104 | driveTrain.getRightEncoderDistance()); | |
1782cbad CZ |
105 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
106 | SmartDashboard.putNumber("voltage", | |
107 | DriverStation.getInstance().getBatteryVoltage()); | |
108 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); | |
f56e6ebf CZ |
109 | SmartDashboard.putNumber("target shooting", |
110 | shooter.getTargetShootingSpeed()); | |
38a404b3 KZ |
111 | } |
112 | } |