update code

[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;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

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();

    SmartDashboard.putNumber(driveTrain.DRIVE_P_Val, 0.006);
    SmartDashboard.putNumber(driveTrain.DRIVE_I_Val, 0.0011);
    SmartDashboard.putNumber(driveTrain.DRIVE_D_Val, -0.002);
    SmartDashboard.putNumber(driveTrain.DRIVE_GYRO_P_Val, 0.01);

    SmartDashboard.putNumber(driveTrain.DRIVE_TARGET_DIST, 50);
    SmartDashboard.putNumber(driveTrain.MAX_TIME_OUT, 10);

    SmartDashboard.putNumber(driveTrain.GYRO_P_Val, 0);
    SmartDashboard.putNumber(driveTrain.GYRO_I_Val, 0);
    SmartDashboard.putNumber(driveTrain.GYRO_D_Val, 0);

  }

  public static DriveTrain getDriveTrain() {
    return driveTrain;
  }

  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() {
    System.out.println("AUTON INIT");
    driveTrain.setHighGear();

    double driveP = SmartDashboard.getNumber(driveTrain.DRIVE_P_Val,
        driveTrain.PID_ERROR);
    double driveI = SmartDashboard.getNumber(driveTrain.DRIVE_I_Val,
        driveTrain.PID_ERROR);
    double driveD = SmartDashboard.getNumber(driveTrain.DRIVE_D_Val,
        driveTrain.PID_ERROR);

    double gyroP = SmartDashboard.getNumber(driveTrain.GYRO_P_Val,
        driveTrain.PID_ERROR);
    double gyroI = SmartDashboard.getNumber(driveTrain.GYRO_I_Val,
        driveTrain.PID_ERROR);
    double gyroD = SmartDashboard.getNumber(driveTrain.GYRO_D_Val,
        driveTrain.PID_ERROR);

    double setpoint = SmartDashboard.getNumber(driveTrain.DRIVE_TARGET_DIST,
        driveTrain.PID_ERROR);
    double maxTimeOut = SmartDashboard.getNumber(driveTrain.MAX_TIME_OUT,
        driveTrain.PID_ERROR);

    driveTrain.getDriveController().setName("Drive");
    driveTrain.getGyroController().setName("Gyro");

    driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
    driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);

    Scheduler.getInstance()
        .add(new DriveDistance(setpoint, maxTimeOut));
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();
    SmartDashboard.putNumber("angle", driveTrain.getAngle());
  }

  @Override
  public void teleopInit() {

  }

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