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 | |
5d967c55 CZ |
7 | import edu.wpi.cscore.UsbCamera; |
8 | import edu.wpi.first.wpilibj.CameraServer; | |
1782cbad | 9 | import edu.wpi.first.wpilibj.DriverStation; |
38a404b3 KZ |
10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
1782cbad | 12 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
13 | |
14 | public class Robot extends IterativeRobot { | |
6acd1f1b | 15 | private static DriveTrain driveTrain; |
414d5638 | 16 | private static Shooter shooter; |
6acd1f1b | 17 | private static OI oi; |
6f3b6d29 | 18 | private static Intake intake; |
99930d53 | 19 | private static CameraServer server; |
38a404b3 KZ |
20 | |
21 | @Override | |
22 | public void robotInit() { | |
6acd1f1b CZ |
23 | driveTrain = DriveTrain.getDriveTrain(); |
24 | oi = OI.getOI(); | |
079a8cb6 | 25 | shooter = Shooter.getShooter(); |
6f3b6d29 | 26 | intake = Intake.getIntake(); |
f56e6ebf | 27 | |
99930d53 | 28 | server = CameraServer.getInstance(); |
5d967c55 CZ |
29 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); |
30 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); | |
f56e6ebf CZ |
31 | |
32 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); | |
cca02549 | 33 | } |
6acd1f1b CZ |
34 | |
35 | public static DriveTrain getDriveTrain() { | |
005d6bf0 | 36 | |
6acd1f1b | 37 | return DriveTrain.getDriveTrain(); |
cca02549 | 38 | } |
6acd1f1b | 39 | |
414d5638 | 40 | public static Shooter getShooter() { |
41 | return Shooter.getShooter(); | |
42 | } | |
43 | ||
6acd1f1b CZ |
44 | public static OI getOI() { |
45 | return OI.getOI(); | |
38a404b3 KZ |
46 | } |
47 | ||
6f3b6d29 | 48 | public static Intake getIntake() { |
7992f152 AD |
49 | return Intake.getIntake(); |
50 | } | |
51 | ||
99930d53 RR |
52 | public static void swapCameraFeed() { |
53 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1); | |
54 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0); | |
55 | } | |
56 | ||
538715b1 AD |
57 | // If the gear values do not match in the left and right piston, then they are |
58 | // both set to high gear | |
38a404b3 KZ |
59 | @Override |
60 | public void autonomousInit() { | |
2d810c3c | 61 | driveTrain.setHighGear(); |
f56e6ebf | 62 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
38a404b3 KZ |
63 | } |
64 | ||
65 | @Override | |
66 | public void autonomousPeriodic() { | |
67 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
68 | } |
69 | ||
70 | @Override | |
71 | public void teleopInit() { | |
f56e6ebf | 72 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
38a404b3 KZ |
73 | } |
74 | ||
75 | @Override | |
76 | public void teleopPeriodic() { | |
f56e6ebf | 77 | // driveTrain.printEncoderOutput(); |
88ecb8d3 | 78 | Scheduler.getInstance().run(); |
1782cbad CZ |
79 | updateSmartDashboard(); |
80 | } | |
81 | ||
f56e6ebf CZ |
82 | @Override |
83 | public void disabledInit() { | |
84 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE); | |
85 | } | |
86 | // | |
87 | // @Override | |
88 | // public void disabledPeriodic() { | |
89 | // Scheduler.getInstance().add(new RunFlyWheel(2)); | |
90 | // } | |
91 | ||
1782cbad | 92 | public void updateSmartDashboard() { |
f56e6ebf CZ |
93 | SmartDashboard.putNumber("left encode ", |
94 | driveTrain.getLeftEncoderDistance()); | |
95 | SmartDashboard.putNumber("right encoder", | |
96 | driveTrain.getRightEncoderDistance()); | |
1782cbad CZ |
97 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
98 | SmartDashboard.putNumber("voltage", | |
99 | DriverStation.getInstance().getBatteryVoltage()); | |
100 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); | |
f56e6ebf CZ |
101 | SmartDashboard.putNumber("target shooting", |
102 | shooter.getTargetShootingSpeed()); | |
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103 | } |
104 | } |