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.UsbCamera;
   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
  18   @Override
  19   public void robotInit() {
  20     driveTrain = DriveTrain.getDriveTrain();
  21     oi = OI.getOI();
  22     shooter = Shooter.getShooter();
  23     intake = Intake.getIntake();
  24     CameraServer server = CameraServer.getInstance();
  25     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
  26     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
  27   }
  28
  29   public static DriveTrain getDriveTrain() {
  30     return DriveTrain.getDriveTrain();
  31   }
  32
  33   public static Shooter getShooter() {
  34     return Shooter.getShooter();
  35   }
  36
  37   public static OI getOI() {
  38     return OI.getOI();
  39   }
  40
  41   public static Intake getIntake() {
  42     return Intake.getIntake();
  43   }
  44
  45   // If the gear values do not match in the left and right piston, then they are
  46   // both set to high gear
  47   @Override
  48   public void autonomousInit() {
  49     driveTrain.setHighGear();
  50   }
  51
  52   @Override
  53   public void autonomousPeriodic() {
  54     Scheduler.getInstance().run();
  55   }
  56
  57   @Override
  58   public void teleopInit() {
  59
  60   }
  61
  62   @Override
  63   public void teleopPeriodic() {
  64     Scheduler.getInstance().run();
  65   }
  66 }