Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
a4ea9991 | 3 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
cca02549 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 5 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 6 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 7 | |
38a404b3 KZ |
8 | import edu.wpi.first.wpilibj.IterativeRobot; |
9 | import edu.wpi.first.wpilibj.command.Scheduler; | |
34ffcd03 | 10 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
11 | |
12 | public class Robot extends IterativeRobot { | |
6acd1f1b | 13 | private static DriveTrain driveTrain; |
414d5638 | 14 | private static Shooter shooter; |
6acd1f1b | 15 | private static OI oi; |
6f3b6d29 | 16 | private static Intake intake; |
38a404b3 KZ |
17 | |
18 | @Override | |
19 | public void robotInit() { | |
42dc48a6 | 20 | driveTrain = DriveTrain.getDriveTrain(); |
6acd1f1b | 21 | oi = OI.getOI(); |
079a8cb6 | 22 | shooter = Shooter.getShooter(); |
6f3b6d29 | 23 | intake = Intake.getIntake(); |
9781fa24 | 24 | |
63c60c71 MW |
25 | SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0); |
26 | SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0); | |
27 | SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, 0); | |
28 | SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50); | |
29 | SmartDashboard.putNumber(driveTrain.DRIVE_MOTOR_VAL, 0.5); | |
9781fa24 | 30 | |
63c60c71 MW |
31 | SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0); |
32 | SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0); | |
33 | SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0); | |
9781fa24 | 34 | |
cca02549 | 35 | } |
6acd1f1b CZ |
36 | |
37 | public static DriveTrain getDriveTrain() { | |
cdb67f48 | 38 | return driveTrain; |
cca02549 | 39 | } |
6acd1f1b | 40 | |
414d5638 | 41 | public static Shooter getShooter() { |
42 | return Shooter.getShooter(); | |
43 | } | |
44 | ||
6acd1f1b CZ |
45 | public static OI getOI() { |
46 | return OI.getOI(); | |
38a404b3 KZ |
47 | } |
48 | ||
6f3b6d29 | 49 | public static Intake getIntake() { |
7992f152 AD |
50 | return Intake.getIntake(); |
51 | } | |
52 | ||
538715b1 AD |
53 | // If the gear values do not match in the left and right piston, then they are |
54 | // both set to high gear | |
38a404b3 KZ |
55 | @Override |
56 | public void autonomousInit() { | |
202468a5 | 57 | driveTrain.setHighGear(); |
2fe295a6 | 58 | |
63c60c71 MW |
59 | double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val, |
60 | driveTrain.PID_ERROR); | |
61 | double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val, | |
62 | driveTrain.PID_ERROR); | |
63 | double driveD = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val, | |
64 | driveTrain.PID_ERROR); | |
65 | ||
66 | double gyroP = SmartDashboard.getNumber(driveTrain.GYRO_P_Val, | |
67 | driveTrain.PID_ERROR); | |
68 | double gyroI = SmartDashboard.getNumber(driveTrain.GYRO_I_Val, | |
69 | driveTrain.PID_ERROR); | |
70 | double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val, | |
71 | driveTrain.PID_ERROR); | |
72 | ||
73 | double Setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST, | |
74 | driveTrain.PID_ERROR); | |
75 | double Speed = SmartDashboard.getNumber(driveTrain.DRIVE_MOTOR_VAL, | |
76 | driveTrain.PID_ERROR); | |
f9b52969 E |
77 | |
78 | driveTrain.getDriveController().setName("Drive"); | |
79 | driveTrain.getGyroController().setName("Gyro"); | |
80 | ||
81 | driveTrain.getDriveController().setConstants(driveP, driveI, driveD); | |
82 | ||
83 | driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); | |
09ee7387 | 84 | |
a4ea9991 ES |
85 | Scheduler.getInstance().add(new DriveDistance(Setpoint, Speed)); |
86 | ||
1ace547f ES |
87 | SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0); |
88 | SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0); | |
89 | SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0); | |
90 | SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50); | |
91 | SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); | |
92 | ||
38a404b3 KZ |
93 | } |
94 | ||
95 | @Override | |
96 | public void autonomousPeriodic() { | |
97 | Scheduler.getInstance().run(); | |
93698237 | 98 | |
38a404b3 KZ |
99 | } |
100 | ||
101 | @Override | |
102 | public void teleopInit() { | |
538715b1 | 103 | |
38a404b3 KZ |
104 | } |
105 | ||
106 | @Override | |
107 | public void teleopPeriodic() { | |
88ecb8d3 | 108 | Scheduler.getInstance().run(); |
38a404b3 KZ |
109 | } |
110 | } |