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     usbCamera = CameraServer.getInstance().startAutomaticCapture();
  30
  31     // cameraServer2 = CameraServer;getInstance();
  32     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  33
  34     cameraServer2 = CameraServer.getInstance();
  35     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  36
  37     cameraFeeds = new CameraFeeds();
  38
  39     // usbCamera = CameraServer.getInstance().startAutomaticCapture();
  40     // CameraServer.getInstance().startAutomaticCapture();
  41     // cameraServer2 = CameraServer.getInstance();
  42     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  43     // cameraFeeds = new CameraFeeds();
  44
  45   }
  46
  47   public static DriveTrain getDriveTrain() {
  48     return DriveTrain.getDriveTrain();
  49   }
  50
  51   public static Shooter getShooter() {
  52     return Shooter.getShooter();
  53   }
  54
  55   public static OI getOI() {
  56     return OI.getOI();
  57   }
  58
  59   public static Intake getIntake() {
  60     return Intake.getIntake();
  61   }
  62
  63   // If the gear values do not match in the left and right piston, then they are
  64   // both set to high gear
  65   @Override
  66   public void autonomousInit() {
  67     driveTrain.setHighGear();
  68   }
  69
  70   @Override
  71   public void autonomousPeriodic() {
  72     Scheduler.getInstance().run();
  73
  74   }
  75
  76   @Override
  77   public void teleopInit() {
  78
  79     cameraFeeds.init();
  80
  81   }
  82
  83   @Override
  84   public void teleopPeriodic() {
  85     Scheduler.getInstance().run();
  86     cameraFeeds.run();
  87
  88   }
  89 }