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.AxisCamera;
   8 import edu.wpi.cscore.UsbCamera;
   9 import edu.wpi.first.wpilibj.CameraServer;
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12
  13 public class Robot extends IterativeRobot {
  14   private static DriveTrain driveTrain;
  15   private static Shooter shooter;
  16   private static OI oi;
  17   private static Intake intake;
  18   private static UsbCamera usbCamera;
  19   private static CameraServer cameraServer2;
  20   private static AxisCamera axisCamera;
  21
  22   @Override
  23   public void robotInit() {
  24     driveTrain = DriveTrain.getDriveTrain();
  25     oi = OI.getOI();
  26     shooter = Shooter.getShooter();
  27     intake = Intake.getIntake();
  28
  29     usbCamera = CameraServer.getInstance().startAutomaticCapture();
  30
  31     // cameraServer2 = CameraServer;getInstance();
  32     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  33
  34     cameraServer2 = CameraServer.getInstance();
  35     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  36
  37   }
  38
  39   public static DriveTrain getDriveTrain() {
  40     return DriveTrain.getDriveTrain();
  41   }
  42
  43   public static Shooter getShooter() {
  44     return Shooter.getShooter();
  45   }
  46
  47   public static OI getOI() {
  48     return OI.getOI();
  49   }
  50
  51   public static Intake getIntake() {
  52     return Intake.getIntake();
  53   }
  54
  55   // If the gear values do not match in the left and right piston, then they are
  56   // both set to high gear
  57   @Override
  58   public void autonomousInit() {
  59     driveTrain.setHighGear();
  60   }
  61
  62   @Override
  63   public void autonomousPeriodic() {
  64     Scheduler.getInstance().run();
  65
  66   }
  67
  68   @Override
  69   public void teleopInit() {
  70
  71   }
  72
  73   @Override
  74   public void teleopPeriodic() {
  75     Scheduler.getInstance().run();
  76
  77   }
  78 }