challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1 package org.usfirst.frc.team3501.robot;
   2
   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;
   6
   7 import edu.wpi.cscore.UsbCamera;
   8 import edu.wpi.first.wpilibj.CameraServer;
   9 import edu.wpi.first.wpilibj.DriverStation;
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  13
  14 public class Robot extends IterativeRobot {
  15   private static DriveTrain driveTrain;
  16   private static Shooter shooter;
  17   private static OI oi;
  18   private static Intake intake;
  19
  20   @Override
  21   public void robotInit() {
  22     driveTrain = DriveTrain.getDriveTrain();
  23     oi = OI.getOI();
  24     shooter = Shooter.getShooter();
  25     intake = Intake.getIntake();
  26     CameraServer server = CameraServer.getInstance();
  27     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  28     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  29   }
  30
  31   public static DriveTrain getDriveTrain() {
  32
  33     return DriveTrain.getDriveTrain();
  34   }
  35
  36   public static Shooter getShooter() {
  37     return Shooter.getShooter();
  38   }
  39
  40   public static OI getOI() {
  41     return OI.getOI();
  42   }
  43
  44   public static Intake getIntake() {
  45     return Intake.getIntake();
  46   }
  47
  48   // If the gear values do not match in the left and right piston, then they are
  49   // both set to high gear
  50   @Override
  51   public void autonomousInit() {
  52     driveTrain.setHighGear();
  53   }
  54
  55   @Override
  56   public void autonomousPeriodic() {
  57     Scheduler.getInstance().run();
  58   }
  59
  60   @Override
  61   public void teleopInit() {
  62   }
  63
  64   @Override
  65   public void teleopPeriodic() {
  66     Scheduler.getInstance().run();
  67     updateSmartDashboard();
  68   }
  69
  70   public void updateSmartDashboard() {
  71     SmartDashboard.putNumber("angle", driveTrain.getAngle());
  72     SmartDashboard.putNumber("voltage",
  73         DriverStation.getInstance().getBatteryVoltage());
  74     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
  75     SmartDashboard.putNumber("motor value", shooter.getCurrentShootingSpeed());
  76   }
  77 }