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
  28     server = CameraServer.getInstance();
  29     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  30     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  31
  32     // driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
  33   }
  34
  35   public static DriveTrain getDriveTrain() {
  36     return DriveTrain.getDriveTrain();
  37   }
  38
  39   public static Shooter getShooter() {
  40     return Shooter.getShooter();
  41   }
  42
  43   public static OI getOI() {
  44     return OI.getOI();
  45   }
  46
  47   public static Intake getIntake() {
  48     return Intake.getIntake();
  49   }
  50
  51   public static void swapCameraFeed() {
  52     if (Intake.getIntake().getIntakeCameraFeed() == 1) {
  53       UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
  54       UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
  55       Intake.getIntake().setIntakeCameraFeed(0);
  56     } else {
  57       UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  58       UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  59       Intake.getIntake().setIntakeCameraFeed(1);
  60     }
  61
  62   }
  63
  64   // If the gear values do not match in the left and right piston, then they are
  65   // both set to high gear
  66   @Override
  67   public void autonomousInit() {
  68     // driveTrain.setHighGear();
  69     // driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
  70   }
  71
  72   @Override
  73   public void autonomousPeriodic() {
  74     Scheduler.getInstance().run();
  75   }
  76
  77   @Override
  78   public void teleopInit() {
  79     // driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
  80   }
  81
  82   @Override
  83   public void teleopPeriodic() {
  84     // driveTrain.printEncoderOutput();
  85     Scheduler.getInstance().run();
  86     updateSmartDashboard();
  87   }
  88
  89   @Override
  90   public void disabledInit() {
  91     // driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
  92   }
  93   //
  94   // @Override
  95   // public void disabledPeriodic() {
  96   // Scheduler.getInstance().add(new RunFlyWheel(2));
  97   // }
  98
  99   public void updateSmartDashboard() {
 100     SmartDashboard.putNumber("left encode ",
 101         driveTrain.getLeftEncoderDistance());
 102     SmartDashboard.putNumber("right encoder",
 103         driveTrain.getRightEncoderDistance());
 104     SmartDashboard.putNumber("angle", driveTrain.getAngle());
 105     SmartDashboard.putNumber("voltage",
 106         DriverStation.getInstance().getBatteryVoltage());
 107     SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
 108     SmartDashboard.putNumber("target shooting",
 109         shooter.getTargetShootingSpeed());
 110   }
 111 }