2bdf1248049c3dbfb5f69767982bb2898f623a47
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
.first
.wpilibj
.IterativeRobot
;
8 import edu
.wpi
.first
.wpilibj
.command
.Scheduler
;
9 import edu
.wpi
.first
.wpilibj
.smartdashboard
.SmartDashboard
;
11 public class Robot
extends IterativeRobot
{
12 private static DriveTrain driveTrain
;
13 private static Shooter shooter
;
15 private static Intake intake
;
18 public void robotInit() {
19 driveTrain
= DriveTrain
.getDriveTrain();
21 shooter
= Shooter
.getShooter();
22 intake
= Intake
.getIntake();
25 public static DriveTrain
getDriveTrain() {
29 public static Shooter
getShooter() {
30 return Shooter
.getShooter();
33 public static OI
getOI() {
37 public static Intake
getIntake() {
38 return Intake
.getIntake();
41 // If the gear values do not match in the left and right piston, then they are
42 // both set to high gear
44 public void autonomousInit() {
45 driveTrain
.setHighGear();
47 SmartDashboard
.putNumber(Constants
.DriveTrain
.DRIVE_P_Val
, 0);
48 SmartDashboard
.putNumber(Constants
.DriveTrain
.DRIVE_I_Val
, 0);
49 SmartDashboard
.putNumber(Constants
.DriveTrain
.DRIVE_D_Val
, 0);
50 SmartDashboard
.putNumber(Constants
.DriveTrain
.DRIVE_TARGET_DIST
, 50);
51 SmartDashboard
.putNumber(Constants
.DriveTrain
.MOTOR_VAL
, 0.5);
53 SmartDashboard
.putNumber(Constants
.DriveTrain
.GYRO_P_Val
, 0);
54 SmartDashboard
.putNumber(Constants
.DriveTrain
.GYRO_I_Val
, 0);
55 SmartDashboard
.putNumber(Constants
.DriveTrain
.GYRO_D_Val
, 0);
57 double driveP
= SmartDashboard
.getNumber(Constants
.DriveTrain
.DRIVE_D_Val
,
58 Constants
.DriveTrain
.PID_ERROR
);
59 double driveI
= SmartDashboard
.getNumber(Constants
.DriveTrain
.DRIVE_I_Val
,
60 Constants
.DriveTrain
.PID_ERROR
);
61 double driveD
= SmartDashboard
.getNumber(Constants
.DriveTrain
.DRIVE_D_Val
,
62 Constants
.DriveTrain
.PID_ERROR
);
64 double gyroP
= SmartDashboard
.getNumber(Constants
.DriveTrain
.GYRO_P_Val
,
65 Constants
.DriveTrain
.PID_ERROR
);
66 double gyroI
= SmartDashboard
.getNumber(Constants
.DriveTrain
.GYRO_I_Val
,
67 Constants
.DriveTrain
.PID_ERROR
);
68 double gyroD
= SmartDashboard
.getNumber(Constants
.DriveTrain
.GYRO_D_Val
,
69 Constants
.DriveTrain
.PID_ERROR
);
71 double Setpoint
= SmartDashboard
.getNumber(
72 Constants
.DriveTrain
.DRIVE_TARGET_DIST
, Constants
.DriveTrain
.PID_ERROR
);
73 double Speed
= SmartDashboard
.getNumber(
74 Constants
.DriveTrain
.DRIVE_MOTOR_VAL
, Constants
.DriveTrain
.PID_ERROR
);
76 driveTrain
.getDriveController().setName("Drive");
77 driveTrain
.getGyroController().setName("Gyro");
79 driveTrain
.getDriveController().setConstants(driveP
, driveI
, driveD
);
83 public void autonomousPeriodic() {
84 Scheduler
.getInstance().run();
89 public void teleopInit() {
94 public void teleopPeriodic() {
95 Scheduler
.getInstance().run();