Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
f213251b | 3 | import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; |
cca02549 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 5 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 6 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 7 | |
38a404b3 KZ |
8 | import edu.wpi.first.wpilibj.IterativeRobot; |
9 | import edu.wpi.first.wpilibj.command.Scheduler; | |
34ffcd03 | 10 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
11 | |
12 | public class Robot extends IterativeRobot { | |
6acd1f1b | 13 | private static DriveTrain driveTrain; |
414d5638 | 14 | private static Shooter shooter; |
6acd1f1b | 15 | private static OI oi; |
6f3b6d29 | 16 | private static Intake intake; |
38a404b3 KZ |
17 | |
18 | @Override | |
19 | public void robotInit() { | |
6acd1f1b CZ |
20 | driveTrain = DriveTrain.getDriveTrain(); |
21 | oi = OI.getOI(); | |
079a8cb6 | 22 | shooter = Shooter.getShooter(); |
6f3b6d29 | 23 | intake = Intake.getIntake(); |
cca02549 | 24 | } |
6acd1f1b CZ |
25 | |
26 | public static DriveTrain getDriveTrain() { | |
27 | return DriveTrain.getDriveTrain(); | |
cca02549 | 28 | } |
6acd1f1b | 29 | |
414d5638 | 30 | public static Shooter getShooter() { |
31 | return Shooter.getShooter(); | |
32 | } | |
33 | ||
6acd1f1b CZ |
34 | public static OI getOI() { |
35 | return OI.getOI(); | |
38a404b3 KZ |
36 | } |
37 | ||
6f3b6d29 | 38 | public static Intake getIntake() { |
7992f152 AD |
39 | return Intake.getIntake(); |
40 | } | |
41 | ||
538715b1 AD |
42 | // If the gear values do not match in the left and right piston, then they are |
43 | // both set to high gear | |
38a404b3 KZ |
44 | @Override |
45 | public void autonomousInit() { | |
202468a5 | 46 | driveTrain.setHighGear(); |
2fe295a6 | 47 | |
b69da5bd MW |
48 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0); |
49 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0); | |
50 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0); | |
51 | SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50); | |
51612479 | 52 | SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5); |
360d51fe | 53 | |
38a404b3 KZ |
54 | } |
55 | ||
56 | @Override | |
57 | public void autonomousPeriodic() { | |
58 | Scheduler.getInstance().run(); | |
7558394d | 59 | |
6f5270c9 | 60 | double P = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
51612479 | 61 | Constants.DriveTrain.PID_ERROR); |
b69da5bd | 62 | double I = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, |
51612479 | 63 | Constants.DriveTrain.PID_ERROR); |
b69da5bd | 64 | double D = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
51612479 | 65 | Constants.DriveTrain.PID_ERROR); |
a96a3537 | 66 | double SPEED = SmartDashboard.getNumber(Constants.DriveTrain.MOTOR_VAL, 0); |
f213251b | 67 | |
6f5270c9 MW |
68 | double SETPOINT = SmartDashboard.getNumber( |
69 | Constants.DriveTrain.DRIVE_TARGET_DIST, | |
70 | Constants.DriveTrain.TARGET_DISTANCE_ERROR); | |
f213251b | 71 | |
0de29669 | 72 | DriveTrain.getDriveTrain().getDriveController().setConstants(P, I, D); |
f213251b | 73 | |
1f200727 | 74 | new DriveDistance(SETPOINT, SPEED).start(); |
38a404b3 KZ |
75 | } |
76 | ||
77 | @Override | |
78 | public void teleopInit() { | |
538715b1 | 79 | |
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80 | } |
81 | ||
82 | @Override | |
83 | public void teleopPeriodic() { | |
88ecb8d3 | 84 | Scheduler.getInstance().run(); |
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85 | } |
86 | } |