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 | 52 | public static void swapCameraFeed() { |
d1930cd9 RR |
53 | if (Intake.getIntake().getIntakeCameraFeed() == 1) { |
54 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1); | |
55 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0); | |
56 | Intake.getIntake().setIntakeCameraFeed(0); | |
57 | } else { | |
58 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); | |
59 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); | |
60 | Intake.getIntake().setIntakeCameraFeed(1); | |
61 | } | |
62 | ||
99930d53 RR |
63 | } |
64 | ||
538715b1 AD |
65 | // If the gear values do not match in the left and right piston, then they are |
66 | // both set to high gear | |
38a404b3 KZ |
67 | @Override |
68 | public void autonomousInit() { | |
2d810c3c | 69 | driveTrain.setHighGear(); |
f56e6ebf | 70 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
38a404b3 KZ |
71 | } |
72 | ||
73 | @Override | |
74 | public void autonomousPeriodic() { | |
75 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
76 | } |
77 | ||
78 | @Override | |
79 | public void teleopInit() { | |
f56e6ebf | 80 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE); |
38a404b3 KZ |
81 | } |
82 | ||
83 | @Override | |
84 | public void teleopPeriodic() { | |
f56e6ebf | 85 | // driveTrain.printEncoderOutput(); |
88ecb8d3 | 86 | Scheduler.getInstance().run(); |
1782cbad CZ |
87 | updateSmartDashboard(); |
88 | } | |
89 | ||
f56e6ebf CZ |
90 | @Override |
91 | public void disabledInit() { | |
92 | driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE); | |
93 | } | |
94 | // | |
95 | // @Override | |
96 | // public void disabledPeriodic() { | |
97 | // Scheduler.getInstance().add(new RunFlyWheel(2)); | |
98 | // } | |
99 | ||
1782cbad | 100 | public void updateSmartDashboard() { |
f56e6ebf CZ |
101 | SmartDashboard.putNumber("left encode ", |
102 | driveTrain.getLeftEncoderDistance()); | |
103 | SmartDashboard.putNumber("right encoder", | |
104 | driveTrain.getRightEncoderDistance()); | |
1782cbad CZ |
105 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
106 | SmartDashboard.putNumber("voltage", | |
107 | DriverStation.getInstance().getBatteryVoltage()); | |
108 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); | |
f56e6ebf CZ |
109 | SmartDashboard.putNumber("target shooting", |
110 | shooter.getTargetShootingSpeed()); | |
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111 | } |
112 | } |