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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; |
268b0048 | 6 | import org.usfirst.frc.team3501.robot.utils.HallEffectSensor; |
6acd1f1b | 7 | |
38a404b3 KZ |
8 | import edu.wpi.first.wpilibj.IterativeRobot; |
9 | import edu.wpi.first.wpilibj.command.Scheduler; | |
10 | ||
11 | public class Robot extends IterativeRobot { | |
6acd1f1b | 12 | private static DriveTrain driveTrain; |
414d5638 | 13 | private static Shooter shooter; |
6acd1f1b | 14 | private static OI oi; |
6f3b6d29 | 15 | private static Intake intake; |
268b0048 | 16 | private HallEffectSensor hallEffect; |
38a404b3 KZ |
17 | |
18 | @Override | |
19 | public void robotInit() { | |
6acd1f1b CZ |
20 | driveTrain = DriveTrain.getDriveTrain(); |
21 | oi = OI.getOI(); | |
079a8cb6 | 22 | shooter = Shooter.getShooter(); |
6f3b6d29 | 23 | intake = Intake.getIntake(); |
8565f615 | 24 | |
268b0048 | 25 | hallEffect = Shooter.getHallEffectSensor(); |
cca02549 | 26 | } |
6acd1f1b CZ |
27 | |
28 | public static DriveTrain getDriveTrain() { | |
29 | return DriveTrain.getDriveTrain(); | |
cca02549 | 30 | } |
6acd1f1b | 31 | |
414d5638 | 32 | public static Shooter getShooter() { |
33 | return Shooter.getShooter(); | |
34 | } | |
35 | ||
6acd1f1b CZ |
36 | public static OI getOI() { |
37 | return OI.getOI(); | |
38a404b3 KZ |
38 | } |
39 | ||
6f3b6d29 | 40 | public static Intake getIntake() { |
7992f152 AD |
41 | return Intake.getIntake(); |
42 | } | |
43 | ||
538715b1 AD |
44 | // If the gear values do not match in the left and right piston, then they are |
45 | // both set to high gear | |
38a404b3 KZ |
46 | @Override |
47 | public void autonomousInit() { | |
202468a5 | 48 | driveTrain.setHighGear(); |
38a404b3 KZ |
49 | } |
50 | ||
51 | @Override | |
52 | public void autonomousPeriodic() { | |
53 | Scheduler.getInstance().run(); | |
54 | ||
55 | } | |
56 | ||
57 | @Override | |
58 | public void teleopInit() { | |
538715b1 | 59 | |
38a404b3 KZ |
60 | } |
61 | ||
62 | @Override | |
63 | public void teleopPeriodic() { | |
64 | Scheduler.getInstance().run(); | |
268b0048 | 65 | System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod()); |
38a404b3 KZ |
66 | } |
67 | } |