Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
cca02549 | 3 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 4 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 6 | |
b90bdbe6 RH |
7 | import edu.wpi.cscore.AxisCamera; |
8 | import edu.wpi.cscore.UsbCamera; | |
9 | import edu.wpi.first.wpilibj.CameraServer; | |
38a404b3 KZ |
10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
12 | ||
13 | public class Robot extends IterativeRobot { | |
6acd1f1b | 14 | private static DriveTrain driveTrain; |
414d5638 | 15 | private static Shooter shooter; |
6acd1f1b | 16 | private static OI oi; |
6f3b6d29 | 17 | private static Intake intake; |
b90bdbe6 RH |
18 | private static UsbCamera usbCamera; |
19 | private static CameraServer cameraServer2; | |
20 | private static AxisCamera axisCamera; | |
1cac6c82 | 21 | private static CameraFeeds cameraFeeds; |
38a404b3 KZ |
22 | |
23 | @Override | |
24 | public void robotInit() { | |
6acd1f1b CZ |
25 | driveTrain = DriveTrain.getDriveTrain(); |
26 | oi = OI.getOI(); | |
079a8cb6 | 27 | shooter = Shooter.getShooter(); |
6f3b6d29 | 28 | intake = Intake.getIntake(); |
8565f615 | 29 | |
b90bdbe6 | 30 | usbCamera = CameraServer.getInstance().startAutomaticCapture(); |
b29faa06 | 31 | |
b90bdbe6 RH |
32 | // cameraServer2 = CameraServer;getInstance(); |
33 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); | |
34 | ||
b29faa06 | 35 | cameraServer2 = CameraServer.getInstance(); |
36 | axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); | |
1cac6c82 | 37 | <<<<<<< HEAD |
b29faa06 | 38 | |
1cac6c82 ME |
39 | ======= |
40 | cameraFeeds = new CameraFeeds(); | |
41 | >>>>>>> implement CameraFeeds into robot.java and add todos | |
cca02549 | 42 | } |
6acd1f1b CZ |
43 | |
44 | public static DriveTrain getDriveTrain() { | |
45 | return DriveTrain.getDriveTrain(); | |
cca02549 | 46 | } |
6acd1f1b | 47 | |
414d5638 | 48 | public static Shooter getShooter() { |
49 | return Shooter.getShooter(); | |
50 | } | |
51 | ||
6acd1f1b CZ |
52 | public static OI getOI() { |
53 | return OI.getOI(); | |
38a404b3 KZ |
54 | } |
55 | ||
6f3b6d29 | 56 | public static Intake getIntake() { |
7992f152 AD |
57 | return Intake.getIntake(); |
58 | } | |
59 | ||
538715b1 AD |
60 | // If the gear values do not match in the left and right piston, then they are |
61 | // both set to high gear | |
38a404b3 KZ |
62 | @Override |
63 | public void autonomousInit() { | |
202468a5 | 64 | driveTrain.setHighGear(); |
38a404b3 KZ |
65 | } |
66 | ||
67 | @Override | |
68 | public void autonomousPeriodic() { | |
69 | Scheduler.getInstance().run(); | |
70 | ||
71 | } | |
72 | ||
73 | @Override | |
74 | public void teleopInit() { | |
1cac6c82 | 75 | <<<<<<< HEAD |
538715b1 | 76 | |
1cac6c82 ME |
77 | ======= |
78 | cameraFeeds.init(); | |
79 | >>>>>>> implement CameraFeeds into robot.java and add todos | |
38a404b3 KZ |
80 | } |
81 | ||
82 | @Override | |
83 | public void teleopPeriodic() { | |
84 | Scheduler.getInstance().run(); | |
1cac6c82 | 85 | cameraFeeds.run(); |
38a404b3 KZ |
86 | |
87 | } | |
88 | } |