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 | |
38a404b3 KZ |
7 | import edu.wpi.first.wpilibj.IterativeRobot; |
8 | import edu.wpi.first.wpilibj.command.Scheduler; | |
9 | ||
10 | public class Robot extends IterativeRobot { | |
6acd1f1b | 11 | private static DriveTrain driveTrain; |
414d5638 | 12 | private static Shooter shooter; |
6acd1f1b | 13 | private static OI oi; |
6f3b6d29 | 14 | private static Intake intake; |
50a075d8 | 15 | // private static UsbCamera usbCamera; |
55391ba3 RH |
16 | // private static CameraServer cameraServer2; |
17 | // private static AxisCamera axisCamera; | |
1cac6c82 | 18 | private static CameraFeeds cameraFeeds; |
38a404b3 KZ |
19 | |
20 | @Override | |
21 | public void robotInit() { | |
6acd1f1b CZ |
22 | driveTrain = DriveTrain.getDriveTrain(); |
23 | oi = OI.getOI(); | |
079a8cb6 | 24 | shooter = Shooter.getShooter(); |
6f3b6d29 | 25 | intake = Intake.getIntake(); |
50a075d8 | 26 | |
55391ba3 | 27 | cameraFeeds = CameraFeeds.getCameraFeeds(); |
72beefff | 28 | |
cca02549 | 29 | } |
6acd1f1b CZ |
30 | |
31 | public static DriveTrain getDriveTrain() { | |
32 | return DriveTrain.getDriveTrain(); | |
cca02549 | 33 | } |
6acd1f1b | 34 | |
414d5638 | 35 | public static Shooter getShooter() { |
36 | return Shooter.getShooter(); | |
37 | } | |
38 | ||
9ea6a533 ME |
39 | public static CameraFeeds getCameraFeeds() { |
40 | return cameraFeeds; | |
41 | } | |
42 | ||
6acd1f1b CZ |
43 | public static OI getOI() { |
44 | return OI.getOI(); | |
38a404b3 KZ |
45 | } |
46 | ||
6f3b6d29 | 47 | public static Intake getIntake() { |
7992f152 AD |
48 | return Intake.getIntake(); |
49 | } | |
50 | ||
538715b1 AD |
51 | // If the gear values do not match in the left and right piston, then they are |
52 | // both set to high gear | |
38a404b3 KZ |
53 | @Override |
54 | public void autonomousInit() { | |
202468a5 | 55 | driveTrain.setHighGear(); |
38a404b3 KZ |
56 | } |
57 | ||
58 | @Override | |
59 | public void autonomousPeriodic() { | |
60 | Scheduler.getInstance().run(); | |
61 | ||
62 | } | |
63 | ||
64 | @Override | |
65 | public void teleopInit() { | |
66 | } | |
67 | ||
68 | @Override | |
69 | public void teleopPeriodic() { | |
70 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
71 | } |
72 | } |