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.getDriveTrain();
  20     oi = OI.getOI();
  21     shooter = Shooter.getShooter();
  22     intake = Intake.getIntake();
  23   }
  24
  25   public static DriveTrain getDriveTrain() {
  26     return DriveTrain.getDriveTrain();
  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.DRIVE_MOTOR_VAL, 0.5);
  52
  53   }
  54
  55   @Override
  56   public void autonomousPeriodic() {
  57     Scheduler.getInstance().run();
  58
  59     double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  60         Constants.DriveTrain.PID_ERROR);
  61     double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
  62         Constants.DriveTrain.PID_ERROR);
  63     double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  64         Constants.DriveTrain.PID_ERROR);
  65     double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
  66         Constants.DriveTrain.PID_ERROR);
  67     double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
  68         Constants.DriveTrain.PID_ERROR);
  69     double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
  70         Constants.DriveTrain.PID_ERROR);
  71
  72     DriveTrain.getDriveTrain().getDriveController().setConstants(driveP, driveI,
  73         driveD);
  74
  75     DriveTrain.getDriveTrain().getGyroController().setConstants(driveP, driveI,
  76         driveD);
  77
  78     // new DriveDistance(SETPOINT, SPEED).start();
  79     double Setpoint = SmartDashboard.getNumber(
  80         Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
  81     double Speed = SmartDashboard.getNumber(
  82         Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
  83
  84   }
  85
  86   @Override
  87   public void teleopInit() {
  88
  89   }
  90
  91   @Override
  92   public void teleopPeriodic() {
  93     Scheduler.getInstance().run();
  94   }
  95 }