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.cscore.UsbCamera;
   9 import edu.wpi.first.wpilibj.CameraServer;
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12
  13 public class Robot extends IterativeRobot {
  14   private static DriveTrain driveTrain;
  15   private static Shooter shooter;
  16   private static OI oi;
  17   private static Intake intake;
  18   private static UsbCamera usbCamera;
  19   private static CameraServer cameraServer2;
  20   private static AxisCamera axisCamera;
  21   private static CameraFeeds cameraFeeds;
  22
  23   @Override
  24   public void robotInit() {
  25     driveTrain = DriveTrain.getDriveTrain();
  26     oi = OI.getOI();
  27     shooter = Shooter.getShooter();
  28     intake = Intake.getIntake();
  29     usbCamera = CameraServer.getInstance().startAutomaticCapture();
  30     cameraServer2 = CameraServer.getInstance();
  31     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  32     cameraFeeds = new CameraFeeds();
  33   }
  34
  35   public static DriveTrain getDriveTrain() {
  36     return DriveTrain.getDriveTrain();
  37   }
  38
  39   public static Shooter getShooter() {
  40     return Shooter.getShooter();
  41   }
  42
  43   public static OI getOI() {
  44     return OI.getOI();
  45   }
  46
  47   public static Intake getIntake() {
  48     return Intake.getIntake();
  49   }
  50
  51   @Override
  52   public void autonomousInit() {
  53   }
  54
  55   @Override
  56   public void autonomousPeriodic() {
  57     Scheduler.getInstance().run();
  58
  59   }
  60
  61   @Override
  62   public void teleopInit() {
  63     cameraFeeds.init();
  64   }
  65
  66   @Override
  67   public void teleopPeriodic() {
  68     Scheduler.getInstance().run();
  69     cameraFeeds.run();
  70
  71   }
  72 }