Commit | Line | Data |
---|---|---|
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 | |
34ffcd03 | 47 | SmartDashboard.putNumber("I", -1); |
2fe295a6 | 48 | SmartDashboard.putNumber(Constants.DriveTrain.D_Val, -1); |
38a404b3 KZ |
49 | } |
50 | ||
51 | @Override | |
52 | public void autonomousPeriodic() { | |
53 | Scheduler.getInstance().run(); | |
7558394d E |
54 | |
55 | DriveTrain.getDriveTrain().getDriveController().setConstants(p, i, d); | |
38a404b3 KZ |
56 | |
57 | } | |
58 | ||
59 | @Override | |
60 | public void teleopInit() { | |
538715b1 | 61 | |
38a404b3 KZ |
62 | } |
63 | ||
64 | @Override | |
65 | public void teleopPeriodic() { | |
88ecb8d3 | 66 | Scheduler.getInstance().run(); |
38a404b3 KZ |
67 | } |
68 | } |