Check before auton if both gears have the same value

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.Intake;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;

public class Robot extends IterativeRobot {
  private static DriveTrain driveTrain;
  private static Shooter shooter;
  private static OI oi;
  private static Intake intake;

  @Override
  public void robotInit() {
    driveTrain = DriveTrain.getDriveTrain();
    oi = OI.getOI();
    shooter = Shooter.getShooter();
    intake = Intake.getIntake();
  }

  public static DriveTrain getDriveTrain() {
    return DriveTrain.getDriveTrain();
  }

  public static Shooter getShooter() {
    return Shooter.getShooter();
  }

  public static OI getOI() {
    return OI.getOI();
  }

  public static Intake getIntake() {
    return Intake.getIntake();
  }

  // If the gear values do not match in the left and right piston, then they are
  // both set to high gear
  @Override
  public void autonomousInit() {
    Scheduler.getInstance().add(new DriveDistance(25, 10));
    if (driveTrain.getLeftGearPistonValue() != driveTrain
        .getRightGearPistonValue()) {
      driveTrain.setHighGear();
    }
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();

  }

  @Override
  public void teleopInit() {

  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();

  }
}