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
  25   public static DriveTrain getDriveTrain() {
  26     return driveTrain;
  27   }
  28
  29   public static Shooter getShooter() {
  30     return Shooter.getShooter();
  31   }
  32
  33   public static OI getOI() {
  34     return OI.getOI();
  35   }
  36
  37   public static Intake getIntake() {
  38     return Intake.getIntake();
  39   }
  40
  41   // If the gear values do not match in the left and right piston, then they are
  42   // both set to high gear
  43   @Override
  44   public void autonomousInit() {
  45     driveTrain.setHighGear();
  46
  47     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_P_Val, 0);
  48     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_I_Val, 0);
  49     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_D_Val, 0);
  50     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_TARGET_DIST, 50);
  51     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
  52
  53     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
  54     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  55     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  56
  57     double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  58         Constants.DriveTrain.PID_ERROR);
  59     double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
  60         Constants.DriveTrain.PID_ERROR);
  61     double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  62         Constants.DriveTrain.PID_ERROR);
  63
  64     double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
  65         Constants.DriveTrain.PID_ERROR);
  66     double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
  67         Constants.DriveTrain.PID_ERROR);
  68     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
  69         Constants.DriveTrain.PID_ERROR);
  70
  71     double Setpoint = SmartDashboard.getNumber(
  72         Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
  73     double Speed = SmartDashboard.getNumber(
  74         Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
  75
  76     driveTrain.getDriveController().setName("Drive");
  77     driveTrain.getGyroController().setName("Gyro");
  78
  79     driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
  80
  81     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
  82
  83   }
  84
  85   @Override
  86   public void autonomousPeriodic() {
  87     Scheduler.getInstance().run();
  88
  89     double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  90         Constants.DriveTrain.PID_ERROR);
  91     double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
  92         Constants.DriveTrain.PID_ERROR);
  93     double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  94         Constants.DriveTrain.PID_ERROR);
  95
  96     double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
  97         Constants.DriveTrain.PID_ERROR);
  98     double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
  99         Constants.DriveTrain.PID_ERROR);
 100     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
 101         Constants.DriveTrain.PID_ERROR);
 102
 103     driveTrain.getDriveController().setName("Drive");
 104     driveTrain.getGyroController().setName("Gyro");
 105
 106     driveTrain.getDriveController().setConstants(driveP, driveI, driveD);
 107
 108     driveTrain.getGyroController().setConstants(gyroP, gyroI, gyroD);
 109
 110     // new DriveDistance(SETPOINT, SPEED).start();
 111
 112     // new TurnForAngle(0, Direction.FORWARD, 5).start();
 113   }
 114
 115   @Override
 116   public void teleopInit() {
 117
 118   }
 119
 120   @Override
 121   public void teleopPeriodic() {
 122     Scheduler.getInstance().run();
 123   }
 124 }