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.cscore.AxisCamera;
   8 import edu.wpi.first.wpilibj.CameraServer;
   9 import edu.wpi.first.wpilibj.IterativeRobot;
  10 import edu.wpi.first.wpilibj.command.Scheduler;
  11
  12 public class Robot extends IterativeRobot {
  13   private static DriveTrain driveTrain;
  14   private static Shooter shooter;
  15   private static OI oi;
  16   private static Intake intake;
  17   // private static UsbCamera usbCamera;
  18   private static CameraServer cameraServer2;
  19   private static AxisCamera axisCamera;
  20   private static CameraFeeds cameraFeeds;
  21
  22   @Override
  23   public void robotInit() {
  24     driveTrain = DriveTrain.getDriveTrain();
  25     oi = OI.getOI();
  26     shooter = Shooter.getShooter();
  27     intake = Intake.getIntake();
  28
  29     cameraServer2 = CameraServer.getInstance();
  30     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  31
  32     cameraFeeds = new CameraFeeds();
  33
  34   }
  35
  36   public static DriveTrain getDriveTrain() {
  37     return DriveTrain.getDriveTrain();
  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
  59   @Override
  60   public void autonomousPeriodic() {
  61     Scheduler.getInstance().run();
  62
  63   }
  64
  65   @Override
  66   public void teleopInit() {
  67     cameraFeeds.init();
  68   }
  69
  70   @Override
  71   public void teleopPeriodic() {
  72     Scheduler.getInstance().run();
  73   }
  74 }