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   private static CameraServer server;
  20
  21   @Override
  22   public void robotInit() {
  23     driveTrain = DriveTrain.getDriveTrain();
  24     oi = OI.getOI();
  25     shooter = Shooter.getShooter();
  26     intake = Intake.getIntake();
  27     server = CameraServer.getInstance();
  28     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  29     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  30   }
  31
  32   public static DriveTrain getDriveTrain() {
  33
  34     return DriveTrain.getDriveTrain();
  35   }
  36
  37   public static Shooter getShooter() {
  38     return Shooter.getShooter();
  39   }
  40
  41   public static OI getOI() {
  42     return OI.getOI();
  43   }
  44
  45   public static Intake getIntake() {
  46     return Intake.getIntake();
  47   }
  48
  49   public static void swapCameraFeed() {
  50     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
  51     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
  52   }
  53
  54   // If the gear values do not match in the left and right piston, then they are
  55   // both set to high gear
  56   @Override
  57   public void autonomousInit() {
  58     driveTrain.setHighGear(driveTrain.getRightPiston());
  59     driveTrain.setHighGear(driveTrain.getLeftPiston());
  60   }
  61
  62   @Override
  63   public void autonomousPeriodic() {
  64     Scheduler.getInstance().run();
  65   }
  66
  67   @Override
  68   public void teleopInit() {
  69   }
  70
  71   @Override
  72   public void teleopPeriodic() {
  73     Scheduler.getInstance().run();
  74     updateSmartDashboard();
  75   }
  76
  77   public void updateSmartDashboard() {
  78     SmartDashboard.putNumber("angle", driveTrain.getAngle());
  79     SmartDashboard.putNumber("voltage",
  80         DriverStation.getInstance().getBatteryVoltage());
  81     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
  82     SmartDashboard.putNumber("motor value", shooter.getCurrentShootingSpeed());
  83   }
  84 }