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.first.wpilibj.IterativeRobot;
   8 import edu.wpi.first.wpilibj.command.Scheduler;
   9
  10 public class Robot extends IterativeRobot {
  11   private static DriveTrain driveTrain;
  12   private static Shooter shooter;
  13   private static OI oi;
  14   private static Intake intake;
  15   // private static UsbCamera usbCamera;
  16   // private static CameraServer cameraServer2;
  17   // private static AxisCamera axisCamera;
  18   private static CameraFeeds cameraFeeds;
  19
  20   @Override
  21   public void robotInit() {
  22     driveTrain = DriveTrain.getDriveTrain();
  23     oi = OI.getOI();
  24     shooter = Shooter.getShooter();
  25     intake = Intake.getIntake();
  26
  27     cameraFeeds = CameraFeeds.getCameraFeeds();
  28
  29   }
  30
  31   public static DriveTrain getDriveTrain() {
  32     return DriveTrain.getDriveTrain();
  33   }
  34
  35   public static Shooter getShooter() {
  36     return Shooter.getShooter();
  37   }
  38
  39   public static CameraFeeds getCameraFeeds() {
  40     return cameraFeeds;
  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   // If the gear values do not match in the left and right piston, then they are
  52   // both set to high gear
  53   @Override
  54   public void autonomousInit() {
  55     driveTrain.setHighGear();
  56   }
  57
  58   @Override
  59   public void autonomousPeriodic() {
  60     Scheduler.getInstance().run();
  61
  62   }
  63
  64   @Override
  65   public void teleopInit() {
  66   }
  67
  68   @Override
  69   public void teleopPeriodic() {
  70     Scheduler.getInstance().run();
  71   }
  72 }