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     return DriveTrain.getDriveTrain();
  33   }
  34
  35   public static Shooter getShooter() {
  36     return Shooter.getShooter();
  37   }
  38
  39   public static OI getOI() {
  40     return OI.getOI();
  41   }
  42
  43   public static Intake getIntake() {
  44     return Intake.getIntake();
  45   }
  46
  47   // If the gear values do not match in the left and right piston, then they are
  48   // both set to high gear
  49   @Override
  50   public void autonomousInit() {
  51     driveTrain.setHighGear();
  52   }
  53
  54   @Override
  55   public void autonomousPeriodic() {
  56     Scheduler.getInstance().run();
  57   }
  58
  59   @Override
  60   public void teleopInit() {
  61   }
  62
  63   @Override
  64   public void teleopPeriodic() {
  65     Scheduler.getInstance().run();
  66     updateSmartDashboard();
  67   }
  68
  69   public void updateSmartDashboard() {
  70     SmartDashboard.putNumber("angle", driveTrain.getAngle());
  71     SmartDashboard.putNumber("voltage",
  72         DriverStation.getInstance().getBatteryVoltage());
  73     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
  74     SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
  75   }
  76 }