1 package org
.usfirst
.frc
.team3501
.robot
;
3 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.DriveTrain
;
4 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Intake
;
5 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
7 import edu
.wpi
.cscore
.AxisCamera
;
8 import edu
.wpi
.first
.wpilibj
.CameraServer
;
9 import edu
.wpi
.first
.wpilibj
.IterativeRobot
;
10 import edu
.wpi
.first
.wpilibj
.command
.Scheduler
;
12 public class Robot
extends IterativeRobot
{
13 private static DriveTrain driveTrain
;
14 private static Shooter shooter
;
16 private static Intake intake
;
17 // private static UsbCamera usbCamera;
18 private static CameraServer cameraServer2
;
19 private static AxisCamera axisCamera
;
20 private static CameraFeeds cameraFeeds
;
23 public void robotInit() {
24 driveTrain
= DriveTrain
.getDriveTrain();
26 shooter
= Shooter
.getShooter();
27 intake
= Intake
.getIntake();
28 cameraServer2
= CameraServer
.getInstance();
29 axisCamera
= cameraServer2
.addAxisCamera("axisCamera", "10.35.1.11");
30 // cameraFeeds = new CameraFeeds();
31 cameraFeeds
= CameraFeeds
.getCameraFeeds();
33 // usbCamera = CameraServer.getInstance().startAutomaticCapture();
35 // cameraServer2 = CameraServer;getInstance();
36 // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
38 // cameraServer2 = CameraServer.getInstance();
39 // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
41 // usbCamera = CameraServer.getInstance().startAutomaticCapture();
42 // CameraServer.getInstance().startAutomaticCapture();
43 // cameraServer2 = CameraServer.getInstance();
44 // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
46 // cameraFeeds = new CameraFeeds();
49 public static DriveTrain
getDriveTrain() {
50 return DriveTrain
.getDriveTrain();
53 public static Shooter
getShooter() {
54 return Shooter
.getShooter();
57 public static CameraFeeds
getCameraFeeds() {
61 public static OI
getOI() {
65 public static Intake
getIntake() {
66 return Intake
.getIntake();
69 // If the gear values do not match in the left and right piston, then they are
70 // both set to high gear
72 public void autonomousInit() {
73 driveTrain
.setHighGear();
77 public void autonomousPeriodic() {
78 Scheduler
.getInstance().run();
83 public void teleopInit() {
87 public void teleopPeriodic() {
88 Scheduler
.getInstance().run();