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.IterativeRobot;
  10 import edu.wpi.first.wpilibj.command.Scheduler;
  11
  12 public class Robot extends IterativeRobot {
  13   private static DriveTrain driveTrain;
  14   private static Shooter shooter;
  15   private static OI oi;
  16   private static Intake intake;
  17   private CameraServer server;
  18   private static UsbCamera intakeCam;
  19
  20   @Override
  21   public void robotInit() {
  22     driveTrain = DriveTrain.getDriveTrain();
  23     oi = OI.getOI();
  24     shooter = Shooter.getShooter();
  25     intake = Intake.getIntake();
  26     server = CameraServer.getInstance();
  27     intakeCam = server.startAutomaticCapture();
  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   }
  52
  53   @Override
  54   public void autonomousPeriodic() {
  55     Scheduler.getInstance().run();
  56
  57   }
  58
  59   @Override
  60   public void teleopInit() {
  61
  62   }
  63
  64   @Override
  65   public void teleopPeriodic() {
  66     Scheduler.getInstance().run();
  67   }
  68 }