| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear; |
| 4 | import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear; |
| 5 | import org.usfirst.frc.team3501.robot.subsystems.Climber; |
| 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
| 7 | import org.usfirst.frc.team3501.robot.subsystems.Intake; |
| 8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
| 9 | |
| 10 | import edu.wpi.cscore.UsbCamera; |
| 11 | import edu.wpi.first.wpilibj.CameraServer; |
| 12 | import edu.wpi.first.wpilibj.DriverStation; |
| 13 | import edu.wpi.first.wpilibj.IterativeRobot; |
| 14 | import edu.wpi.first.wpilibj.command.Command; |
| 15 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 16 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
| 17 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
| 18 | |
| 19 | public class Robot extends IterativeRobot { |
| 20 | private static DriveTrain driveTrain; |
| 21 | private static Shooter shooter; |
| 22 | private static OI oi; |
| 23 | private static Intake intake; |
| 24 | private static Climber climber; |
| 25 | |
| 26 | Command autonCommand; |
| 27 | SendableChooser autonChooser; |
| 28 | |
| 29 | @Override |
| 30 | public void robotInit() { |
| 31 | driveTrain = DriveTrain.getDriveTrain(); |
| 32 | oi = OI.getOI(); |
| 33 | shooter = Shooter.getShooter(); |
| 34 | intake = Intake.getIntake(); |
| 35 | climber = Climber.getClimber(); |
| 36 | |
| 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 | |
| 49 | CameraServer server = CameraServer.getInstance(); |
| 50 | UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0); |
| 51 | UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1); |
| 52 | } |
| 53 | |
| 54 | public static DriveTrain getDriveTrain() { |
| 55 | return DriveTrain.getDriveTrain(); |
| 56 | } |
| 57 | |
| 58 | public static Shooter getShooter() { |
| 59 | return Shooter.getShooter(); |
| 60 | } |
| 61 | |
| 62 | public static OI getOI() { |
| 63 | return OI.getOI(); |
| 64 | } |
| 65 | |
| 66 | public static Intake getIntake() { |
| 67 | return Intake.getIntake(); |
| 68 | } |
| 69 | |
| 70 | public static Climber getClimber() { |
| 71 | return Climber.getClimber(); |
| 72 | } |
| 73 | |
| 74 | @Override |
| 75 | public void autonomousInit() { |
| 76 | driveTrain.setLowGear(); |
| 77 | |
| 78 | // autonCommand = (Command) autonChooser.getSelected(); |
| 79 | autonCommand = new AutonMiddleGear(); |
| 80 | Scheduler.getInstance().add(autonCommand); |
| 81 | } |
| 82 | |
| 83 | @Override |
| 84 | public void autonomousPeriodic() { |
| 85 | Scheduler.getInstance().run(); |
| 86 | } |
| 87 | |
| 88 | @Override |
| 89 | public void teleopInit() { |
| 90 | driveTrain.setHighGear(); |
| 91 | } |
| 92 | |
| 93 | @Override |
| 94 | public void teleopPeriodic() { |
| 95 | Scheduler.getInstance().run(); |
| 96 | updateSmartDashboard(); |
| 97 | } |
| 98 | |
| 99 | public void updateSmartDashboard() { |
| 100 | SmartDashboard.putNumber("left encode ", |
| 101 | driveTrain.getLeftEncoderDistance()); |
| 102 | SmartDashboard.putNumber("right encoder", |
| 103 | driveTrain.getRightEncoderDistance()); |
| 104 | SmartDashboard.putNumber("angle", driveTrain.getAngle()); |
| 105 | SmartDashboard.putNumber("voltage", |
| 106 | DriverStation.getInstance().getBatteryVoltage()); |
| 107 | SmartDashboard.putNumber("rpm", shooter.getShooterRPM()); |
| 108 | SmartDashboard.putNumber("target shooting", |
| 109 | shooter.getTargetShootingSpeed()); |
| 110 | } |
| 111 | } |