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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 | |
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7 | import edu.wpi.first.wpilibj.IterativeRobot; |
8 | import edu.wpi.first.wpilibj.command.Scheduler; | |
34ffcd03 | 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
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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; |
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16 | |
17 | @Override | |
18 | public void robotInit() { | |
d0b0d55d | 19 | driveTrain = DriveTrain.getDriveTrain(); |
6acd1f1b | 20 | oi = OI.getOI(); |
079a8cb6 | 21 | shooter = Shooter.getShooter(); |
6f3b6d29 | 22 | intake = Intake.getIntake(); |
cca02549 | 23 | } |
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24 | |
25 | public static DriveTrain getDriveTrain() { | |
cdb67f48 | 26 | return driveTrain; |
cca02549 | 27 | } |
6acd1f1b | 28 | |
414d5638 | 29 | public static Shooter getShooter() { |
30 | return Shooter.getShooter(); | |
31 | } | |
32 | ||
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33 | public static OI getOI() { |
34 | return OI.getOI(); | |
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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 | |
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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); | |
d0b0d55d E |
56 | |
57 | double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, | |
58 | Constants.DriveTrain.PID_ERROR); | |
59 | double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, | |
60 | Constants.DriveTrain.PID_ERROR); | |
61 | double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, | |
62 | Constants.DriveTrain.PID_ERROR); | |
63 | ||
64 | double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, | |
65 | Constants.DriveTrain.PID_ERROR); | |
66 | double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, | |
67 | Constants.DriveTrain.PID_ERROR); | |
68 | double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, | |
69 | Constants.DriveTrain.PID_ERROR); | |
70 | ||
71 | double Setpoint = SmartDashboard.getNumber( | |
72 | Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR); | |
73 | double Speed = SmartDashboard.getNumber( | |
74 | Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR); | |
75 | ||
76 | driveTrain.getDriveController().setName("Drive"); | |
77 | driveTrain.getGyroController().setName("Gyro"); | |
78 | ||
79 | driveTrain.getDriveController().setConstants(driveP, driveI, driveD); | |
80 | ||
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81 | } |
82 | ||
83 | @Override | |
84 | public void autonomousPeriodic() { | |
85 | Scheduler.getInstance().run(); | |
93698237 E |
86 | |
87 | DriveTrain.getDriveTrain().getDriveController().setConstants(p, i, d); | |
7558394d | 88 | |
90b435ce | 89 | double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
51612479 | 90 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 91 | double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val, |
51612479 | 92 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 93 | double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val, |
ee032bc2 | 94 | Constants.DriveTrain.PID_ERROR); |
542234fe | 95 | |
90b435ce | 96 | double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val, |
ee032bc2 | 97 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 98 | double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val, |
ee032bc2 | 99 | Constants.DriveTrain.PID_ERROR); |
90b435ce | 100 | double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val, |
51612479 | 101 | Constants.DriveTrain.PID_ERROR); |
f213251b | 102 | |
d0b0d55d E |
103 | driveTrain.getDriveController().setName("Drive"); |
104 | driveTrain.getGyroController().setName("Gyro"); | |
105 | ||
106 | driveTrain.getDriveController().setConstants(driveP, driveI, driveD); | |
90b435ce | 107 | |
cdb67f48 | 108 | driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD); |
f213251b | 109 | |
01ea2879 | 110 | // new DriveDistance(SETPOINT, SPEED).start(); |
664dae74 | 111 | |
542234fe | 112 | // new TurnForAngle(0, Direction.FORWARD, 5).start(); |
59bc69ac | 113 | |
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114 | } |
115 | ||
116 | @Override | |
117 | public void teleopInit() { | |
538715b1 | 118 | |
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119 | } |
120 | ||
121 | @Override | |
122 | public void teleopPeriodic() { | |
88ecb8d3 | 123 | Scheduler.getInstance().run(); |
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124 | } |
125 | } |