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;
  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.GYRO_P_Val, 0);
  52     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  53     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  54     SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
  55     SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
  56     SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
  57     SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
  58     SmartDashboard.putNumber(Constants.DriveTrain.DRIVE_MOTOR_VAL, 0.5);
  59
  60     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
  61     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  62     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  63   }
  64
  65   @Override
  66   public void autonomousPeriodic() {
  67     Scheduler.getInstance().run();
  68
  69   }
  70
  71   @Override
  72   public void teleopInit() {
  73
  74   }
  75
  76   @Override
  77   public void teleopPeriodic() {
  78     Scheduler.getInstance().run();
  79   }
  80 }