Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
9ca89e45 CZ |
3 | import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear; |
4 | import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear; | |
cca02549 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 6 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 7 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 8 | |
5d967c55 CZ |
9 | import edu.wpi.cscore.UsbCamera; |
10 | import edu.wpi.first.wpilibj.CameraServer; | |
1782cbad | 11 | import edu.wpi.first.wpilibj.DriverStation; |
38a404b3 | 12 | import edu.wpi.first.wpilibj.IterativeRobot; |
9ca89e45 | 13 | import edu.wpi.first.wpilibj.command.Command; |
38a404b3 | 14 | import edu.wpi.first.wpilibj.command.Scheduler; |
9ca89e45 | 15 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
1782cbad | 16 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
17 | |
18 | public class Robot extends IterativeRobot { | |
6acd1f1b | 19 | private static DriveTrain driveTrain; |
414d5638 | 20 | private static Shooter shooter; |
6acd1f1b | 21 | private static OI oi; |
6f3b6d29 | 22 | private static Intake intake; |
38a404b3 | 23 | |
9ca89e45 CZ |
24 | Command autonCommand; |
25 | SendableChooser autonChooser; | |
26 | ||
38a404b3 KZ |
27 | @Override |
28 | public void robotInit() { | |
6acd1f1b CZ |
29 | driveTrain = DriveTrain.getDriveTrain(); |
30 | oi = OI.getOI(); | |
079a8cb6 | 31 | shooter = Shooter.getShooter(); |
6f3b6d29 | 32 | intake = Intake.getIntake(); |
f56e6ebf | 33 | |
9ca89e45 CZ |
34 | autonChooser = new SendableChooser(); |
35 | autonChooser.addDefault("Middle Gear", new AutonMiddleGear()); | |
36 | autonChooser.addObject("Red Boiler Gear", | |
37 | new AutonSideGear("RED", "BOILER")); | |
38 | autonChooser.addObject("Red Retrieval Gear", | |
39 | new AutonSideGear("RED", "RETRIEVAL")); | |
40 | autonChooser.addObject("Blue Boiler Gear", | |
41 | new AutonSideGear("BLUE", "BOILER")); | |
42 | autonChooser.addObject("Blue Retrieval Gear", | |
43 | new AutonSideGear("BLUE", "RETRIEVAL")); | |
44 | SmartDashboard.putData("Autonomous Chooser", autonChooser); | |
45 | ||
5d967c55 CZ |
46 | CameraServer server = CameraServer.getInstance(); |
47 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); | |
48 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); | |
f56e6ebf CZ |
49 | |
50 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); | |
cca02549 | 51 | } |
6acd1f1b CZ |
52 | |
53 | public static DriveTrain getDriveTrain() { | |
54 | return DriveTrain.getDriveTrain(); | |
cca02549 | 55 | } |
6acd1f1b | 56 | |
414d5638 | 57 | public static Shooter getShooter() { |
58 | return Shooter.getShooter(); | |
59 | } | |
60 | ||
6acd1f1b CZ |
61 | public static OI getOI() { |
62 | return OI.getOI(); | |
38a404b3 KZ |
63 | } |
64 | ||
6f3b6d29 | 65 | public static Intake getIntake() { |
7992f152 AD |
66 | return Intake.getIntake(); |
67 | } | |
68 | ||
38a404b3 KZ |
69 | @Override |
70 | public void autonomousInit() { | |
9ca89e45 | 71 | // driveTrain.setLowGear(); |
f56e6ebf | 72 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
9ca89e45 CZ |
73 | |
74 | // autonCommand = (Command) autonChooser.getSelected(); | |
75 | // autonCommand = new TimeDrive(1.5, 0.6); | |
76 | // Scheduler.getInstance().add(autonCommand); | |
38a404b3 KZ |
77 | } |
78 | ||
79 | @Override | |
80 | public void autonomousPeriodic() { | |
81 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
82 | } |
83 | ||
84 | @Override | |
85 | public void teleopInit() { | |
9ca89e45 | 86 | // driveTrain.setHighGear(); |
f56e6ebf | 87 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
38a404b3 KZ |
88 | } |
89 | ||
90 | @Override | |
91 | public void teleopPeriodic() { | |
88ecb8d3 | 92 | Scheduler.getInstance().run(); |
1782cbad CZ |
93 | updateSmartDashboard(); |
94 | } | |
95 | ||
96 | public void updateSmartDashboard() { | |
f56e6ebf CZ |
97 | SmartDashboard.putNumber("left encode ", |
98 | driveTrain.getLeftEncoderDistance()); | |
99 | SmartDashboard.putNumber("right encoder", | |
100 | driveTrain.getRightEncoderDistance()); | |
1782cbad CZ |
101 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
102 | SmartDashboard.putNumber("voltage", | |
103 | DriverStation.getInstance().getBatteryVoltage()); | |
104 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); | |
f56e6ebf CZ |
105 | SmartDashboard.putNumber("target shooting", |
106 | shooter.getTargetShootingSpeed()); | |
38a404b3 KZ |
107 | } |
108 | } |