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
  44     // cameraFeeds = new CameraFeeds();
  45
  46     cameraFeeds = new CameraFeeds();
  47
  48   }
  49
  50   public static DriveTrain getDriveTrain() {
  51     return DriveTrain.getDriveTrain();
  52   }
  53
  54   public static Shooter getShooter() {
  55     return Shooter.getShooter();
  56   }
  57
  58   public static OI getOI() {
  59     return OI.getOI();
  60   }
  61
  62   public static Intake getIntake() {
  63     return Intake.getIntake();
  64   }
  65
  66   // If the gear values do not match in the left and right piston, then they are
  67   // both set to high gear
  68   @Override
  69   public void autonomousInit() {
  70     driveTrain.setHighGear();
  71   }
  72
  73   @Override
  74   public void autonomousPeriodic() {
  75     Scheduler.getInstance().run();
  76
  77   }
  78
  79   @Override
  80   public void teleopInit() {
  81
  82     cameraFeeds.init();
  83
  84     cameraFeeds.init();
  85
  86   }
  87
  88   @Override
  89   public void teleopPeriodic() {
  90     Scheduler.getInstance().run();
  91
  92   }
  93 }