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.commandgroups.AutonGearThenBaselinePegCloseToBoiler;
   4 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   5 import org.usfirst.frc.team3501.robot.subsystems.Intake;
   6 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   7
   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
  19   @Override
  20   public void robotInit() {
  21     driveTrain = DriveTrain.getDriveTrain();
  22     oi = OI.getOI();
  23     shooter = Shooter.getShooter();
  24     intake = Intake.getIntake();
  25     CameraServer server = CameraServer.getInstance();
  26     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  27     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  28   }
  29
  30   public static DriveTrain getDriveTrain() {
  31     return DriveTrain.getDriveTrain();
  32   }
  33
  34   public static Shooter getShooter() {
  35     return Shooter.getShooter();
  36   }
  37
  38   public static OI getOI() {
  39     return OI.getOI();
  40   }
  41
  42   public static Intake getIntake() {
  43     return Intake.getIntake();
  44   }
  45
  46   // If the gear values do not match in the left and right piston, then they are
  47   // both set to high gear
  48   @Override
  49   public void autonomousInit() {
  50     driveTrain.setHighGear();
  51     Scheduler.getInstance()
  52         .add(new AutonGearThenBaselinePegCloseToBoiler("RETRIEVAL", 0));
  53   }
  54
  55   @Override
  56   public void autonomousPeriodic() {
  57     Scheduler.getInstance().run();
  58   }
  59
  60   @Override
  61   public void teleopInit() {
  62     Scheduler.getInstance().removeAll();
  63   }
  64
  65   @Override
  66   public void teleopPeriodic() {
  67     Scheduler.getInstance().run();
  68   }
  69 }