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