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; | |
34ffcd03 | 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
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; |
38a404b3 KZ |
16 | |
17 | @Override | |
18 | public void robotInit() { | |
6acd1f1b CZ |
19 | driveTrain = DriveTrain.getDriveTrain(); |
20 | oi = OI.getOI(); | |
079a8cb6 | 21 | shooter = Shooter.getShooter(); |
6f3b6d29 | 22 | intake = Intake.getIntake(); |
cca02549 | 23 | } |
6acd1f1b CZ |
24 | |
25 | public static DriveTrain getDriveTrain() { | |
26 | return DriveTrain.getDriveTrain(); | |
cca02549 | 27 | } |
6acd1f1b | 28 | |
414d5638 | 29 | public static Shooter getShooter() { |
30 | return Shooter.getShooter(); | |
31 | } | |
32 | ||
6acd1f1b CZ |
33 | public static OI getOI() { |
34 | return OI.getOI(); | |
38a404b3 KZ |
35 | } |
36 | ||
6f3b6d29 | 37 | public static Intake getIntake() { |
7992f152 AD |
38 | return Intake.getIntake(); |
39 | } | |
40 | ||
538715b1 AD |
41 | // If the gear values do not match in the left and right piston, then they are |
42 | // both set to high gear | |
38a404b3 KZ |
43 | @Override |
44 | public void autonomousInit() { | |
202468a5 | 45 | driveTrain.setHighGear(); |
2fe295a6 | 46 | |
b69da5bd MW |
47 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0); |
48 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0); | |
49 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0); | |
50 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50); | |
e483bc7a | 51 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5); |
01ea2879 | 52 | |
5817adb0 ES |
53 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0); |
54 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0); | |
55 | SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0); | |
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56 | } |
57 | ||
58 | @Override | |
59 | public void autonomousPeriodic() { | |
60 | Scheduler.getInstance().run(); | |
7558394d | 61 | |
90b435ce | 62 | double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
51612479 | 63 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 64 | double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, |
51612479 | 65 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 66 | double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
ee032bc2 | 67 | Constants.DriveTrain.PID_ERROR); |
542234fe | 68 | |
90b435ce | 69 | double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, |
ee032bc2 | 70 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 71 | double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, |
ee032bc2 | 72 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 73 | double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, |
51612479 | 74 | Constants.DriveTrain.PID_ERROR); |
f213251b | 75 | |
90b435ce ES |
76 | DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI, |
77 | driveD); | |
78 | ||
542234fe E |
79 | DriveTrain.getDriveTrain().getGyroController().setConstants(gyroP, gyroI, |
80 | gyroD); | |
f213251b | 81 | |
01ea2879 | 82 | // new DriveDistance(SETPOINT, SPEED).start(); |
664dae74 | 83 | |
542234fe | 84 | // new TurnForAngle(0, Direction.FORWARD, 5).start(); |
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85 | } |
86 | ||
87 | @Override | |
88 | public void teleopInit() { | |
538715b1 | 89 | |
38a404b3 KZ |
90 | } |
91 | ||
92 | @Override | |
93 | public void teleopPeriodic() { | |
88ecb8d3 | 94 | Scheduler.getInstance().run(); |
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95 | } |
96 | } |