1 package org
.usfirst
.frc
.team3501
.robot
;
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
;
8 import edu
.wpi
.first
.wpilibj
.IterativeRobot
;
9 import edu
.wpi
.first
.wpilibj
.command
.Scheduler
;
11 public class Robot
extends IterativeRobot
{
12 private static DriveTrain driveTrain
;
13 private static Shooter shooter
;
15 private static Intake intake
;
16 private HallEffectSensor hallEffect
;
19 public void robotInit() {
20 driveTrain
= DriveTrain
.getDriveTrain();
22 shooter
= Shooter
.getShooter();
23 intake
= Intake
.getIntake();
25 hallEffect
= Shooter
.getHallEffectSensor();
28 public static DriveTrain
getDriveTrain() {
29 return DriveTrain
.getDriveTrain();
32 public static Shooter
getShooter() {
33 return Shooter
.getShooter();
36 public static OI
getOI() {
40 public static Intake
getIntake() {
41 return Intake
.getIntake();
44 // If the gear values do not match in the left and right piston, then they are
45 // both set to high gear
47 public void autonomousInit() {
48 driveTrain
.setHighGear();
52 public void autonomousPeriodic() {
53 Scheduler
.getInstance().run();
58 public void teleopInit() {
63 public void teleopPeriodic() {
64 Scheduler
.getInstance().run();
65 System
.out
.println("Hall Effect Period: " + hallEffect
.getCounterPeriod());