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; | |
150f450f | 5 | import org.usfirst.frc.team3501.robot.subsystems.Climber; |
cca02549 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
6f3b6d29 | 7 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
079a8cb6 | 8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6acd1f1b | 9 | |
5d967c55 CZ |
10 | import edu.wpi.cscore.UsbCamera; |
11 | import edu.wpi.first.wpilibj.CameraServer; | |
1782cbad | 12 | import edu.wpi.first.wpilibj.DriverStation; |
38a404b3 | 13 | import edu.wpi.first.wpilibj.IterativeRobot; |
9ca89e45 | 14 | import edu.wpi.first.wpilibj.command.Command; |
38a404b3 | 15 | import edu.wpi.first.wpilibj.command.Scheduler; |
9ca89e45 | 16 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
1782cbad | 17 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
38a404b3 KZ |
18 | |
19 | public class Robot extends IterativeRobot { | |
6acd1f1b | 20 | private static DriveTrain driveTrain; |
414d5638 | 21 | private static Shooter shooter; |
6acd1f1b | 22 | private static OI oi; |
6f3b6d29 | 23 | private static Intake intake; |
150f450f | 24 | private static Climber climber; |
38a404b3 | 25 | |
9ca89e45 CZ |
26 | Command autonCommand; |
27 | SendableChooser autonChooser; | |
28 | ||
38a404b3 KZ |
29 | @Override |
30 | public void robotInit() { | |
6acd1f1b CZ |
31 | driveTrain = DriveTrain.getDriveTrain(); |
32 | oi = OI.getOI(); | |
079a8cb6 | 33 | shooter = Shooter.getShooter(); |
6f3b6d29 | 34 | intake = Intake.getIntake(); |
150f450f | 35 | climber = Climber.getClimber(); |
f56e6ebf | 36 | |
9ca89e45 CZ |
37 | autonChooser = new SendableChooser(); |
38 | autonChooser.addDefault("Middle Gear", new AutonMiddleGear()); | |
39 | autonChooser.addObject("Red Boiler Gear", | |
40 | new AutonSideGear("RED", "BOILER")); | |
41 | autonChooser.addObject("Red Retrieval Gear", | |
42 | new AutonSideGear("RED", "RETRIEVAL")); | |
43 | autonChooser.addObject("Blue Boiler Gear", | |
44 | new AutonSideGear("BLUE", "BOILER")); | |
45 | autonChooser.addObject("Blue Retrieval Gear", | |
46 | new AutonSideGear("BLUE", "RETRIEVAL")); | |
47 | SmartDashboard.putData("Autonomous Chooser", autonChooser); | |
48 | ||
5d967c55 CZ |
49 | CameraServer server = CameraServer.getInstance(); |
50 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); | |
51 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); | |
cca02549 | 52 | } |
6acd1f1b CZ |
53 | |
54 | public static DriveTrain getDriveTrain() { | |
55 | return DriveTrain.getDriveTrain(); | |
cca02549 | 56 | } |
6acd1f1b | 57 | |
414d5638 | 58 | public static Shooter getShooter() { |
59 | return Shooter.getShooter(); | |
60 | } | |
61 | ||
6acd1f1b CZ |
62 | public static OI getOI() { |
63 | return OI.getOI(); | |
38a404b3 KZ |
64 | } |
65 | ||
6f3b6d29 | 66 | public static Intake getIntake() { |
7992f152 AD |
67 | return Intake.getIntake(); |
68 | } | |
69 | ||
150f450f CZ |
70 | public static Climber getClimber() { |
71 | return Climber.getClimber(); | |
72 | } | |
73 | ||
38a404b3 KZ |
74 | @Override |
75 | public void autonomousInit() { | |
150f450f | 76 | driveTrain.setLowGear(); |
9ca89e45 CZ |
77 | |
78 | // autonCommand = (Command) autonChooser.getSelected(); | |
f74d236d | 79 | autonCommand = new AutonMiddleGear(); |
150f450f | 80 | Scheduler.getInstance().add(autonCommand); |
38a404b3 KZ |
81 | } |
82 | ||
83 | @Override | |
84 | public void autonomousPeriodic() { | |
85 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
86 | } |
87 | ||
88 | @Override | |
89 | public void teleopInit() { | |
150f450f | 90 | driveTrain.setHighGear(); |
38a404b3 KZ |
91 | } |
92 | ||
93 | @Override | |
94 | public void teleopPeriodic() { | |
88ecb8d3 | 95 | Scheduler.getInstance().run(); |
1782cbad CZ |
96 | updateSmartDashboard(); |
97 | } | |
98 | ||
99 | public void updateSmartDashboard() { | |
f56e6ebf CZ |
100 | SmartDashboard.putNumber("left encode ", |
101 | driveTrain.getLeftEncoderDistance()); | |
102 | SmartDashboard.putNumber("right encoder", | |
103 | driveTrain.getRightEncoderDistance()); | |
1782cbad CZ |
104 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
105 | SmartDashboard.putNumber("voltage", | |
106 | DriverStation.getInstance().getBatteryVoltage()); | |
107 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); | |
f56e6ebf CZ |
108 | SmartDashboard.putNumber("target shooting", |
109 | shooter.getTargetShootingSpeed()); | |
38a404b3 KZ |
110 | } |
111 | } |