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 import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
   7
   8 import edu.wpi.first.wpilibj.IterativeRobot;
   9 import edu.wpi.first.wpilibj.command.Scheduler;
  10
  11 public class Robot extends IterativeRobot {
  12   private static DriveTrain driveTrain;
  13   private static Shooter shooter;
  14   private static OI oi;
  15   private static Intake intake;
  16   private HallEffectSensor hallEffect;
  17
  18   @Override
  19   public void robotInit() {
  20     driveTrain = DriveTrain.getDriveTrain();
  21     oi = OI.getOI();
  22     shooter = Shooter.getShooter();
  23     intake = Intake.getIntake();
  24
  25     hallEffect = Shooter.getHallEffectSensor();
  26   }
  27
  28   public static DriveTrain getDriveTrain() {
  29     return DriveTrain.getDriveTrain();
  30   }
  31
  32   public static Shooter getShooter() {
  33     return Shooter.getShooter();
  34   }
  35
  36   public static OI getOI() {
  37     return OI.getOI();
  38   }
  39
  40   public static Intake getIntake() {
  41     return Intake.getIntake();
  42   }
  43
  44   // If the gear values do not match in the left and right piston, then they are
  45   // both set to high gear
  46   @Override
  47   public void autonomousInit() {
  48     driveTrain.setHighGear();
  49   }
  50
  51   @Override
  52   public void autonomousPeriodic() {
  53     Scheduler.getInstance().run();
  54
  55   }
  56
  57   @Override
  58   public void teleopInit() {
  59
  60   }
  61
  62   @Override
  63   public void teleopPeriodic() {
  64     Scheduler.getInstance().run();
  65     System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
  66   }
  67 }