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 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  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
  17   @Override
  18   public void robotInit() {
  19     driveTrain = DriveTrain.getDriveTrain();
  20     oi = OI.getOI();
  21     shooter = Shooter.getShooter();
  22     intake = Intake.getIntake();
  23
  24     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
  25     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
  26     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
  27     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
  28     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
  29
  30     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
  31     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  32     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  33
  34   }
  35
  36   public static DriveTrain getDriveTrain() {
  37     return driveTrain;
  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   // If the gear values do not match in the left and right piston, then they are
  53   // both set to high gear
  54   @Override
  55   public void autonomousInit() {
  56     driveTrain.setHighGear();
  57
  58     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
  59     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
  60     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
  61     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
  62     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
  63     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  64     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  65     SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
  66     SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
  67     SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
  68     SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
  69
  70     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
  71
  72     double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  73         Constants.DriveTrain.PID_ERROR);
  74     double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
  75         Constants.DriveTrain.PID_ERROR);
  76     double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  77         Constants.DriveTrain.PID_ERROR);
  78
  79     double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
  80         Constants.DriveTrain.PID_ERROR);
  81     double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
  82         Constants.DriveTrain.PID_ERROR);
  83     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
  84         Constants.DriveTrain.PID_ERROR);
  85
  86     double Setpoint = SmartDashboard.getNumber(
  87         Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
  88     double Speed = SmartDashboard.getNumber(
  89         Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
  90
  91     driveTrain.getDriveController().setName("Drive");
  92     driveTrain.getGyroController().setName("Gyro");
  93
  94     driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
  95
  96     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
  97
  98   }
  99
 100   @Override
 101   public void autonomousPeriodic() {
 102     Scheduler.getInstance().run();
 103
 104   }
 105
 106   @Override
 107   public void teleopInit() {
 108
 109   }
 110
 111   @Override
 112   public void teleopPeriodic() {
 113     Scheduler.getInstance().run();
 114   }
 115 }