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;
  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.MOTOR_VAL, 0.5);
  52
  53 <<<<<<< HEAD
  54     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_P_Val, 0);
  55     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_I_Val, 0);
  56     SmartDashboard.putNumber(Constants.DriveTrain.GYRO_D_Val, 0);
  57 =======
  58     SmartDashboard.putNumber(Constants.DriveTrain.P_Val, 0);
  59     SmartDashboard.putNumber(Constants.DriveTrain.I_Val, 0);
  60     SmartDashboard.putNumber(Constants.DriveTrain.D_Val, 0);
  61     SmartDashboard.putNumber(Constants.DriveTrain.TARGET_DIST, 50);
  62     SmartDashboard.putNumber(Constants.DriveTrain.MOTOR_VAL, 0.5);
  63
  64   }>>>>>>>
  65
  66   update code
  67
  68   double driveP = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  69       Constants.DriveTrain.PID_ERROR);
  70   double driveI = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_I_Val,
  71       Constants.DriveTrain.PID_ERROR);
  72   double driveD = SmartDashboard.getNumber(Constants.DriveTrain.DRIVE_D_Val,
  73       Constants.DriveTrain.PID_ERROR);
  74
  75   double gyroP = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_P_Val,
  76       Constants.DriveTrain.PID_ERROR);
  77   double gyroI = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_I_Val,
  78       Constants.DriveTrain.PID_ERROR);
  79   double gyroD = SmartDashboard.getNumber(Constants.DriveTrain.GYRO_D_Val,
  80       Constants.DriveTrain.PID_ERROR);
  81
  82   double Setpoint = SmartDashboard.getNumber(
  83       Constants.DriveTrain.DRIVE_TARGET_DIST, Constants.DriveTrain.PID_ERROR);
  84   double Speed = SmartDashboard.getNumber(
  85       Constants.DriveTrain.DRIVE_MOTOR_VAL, Constants.DriveTrain.PID_ERROR);
  86
  87   driveTrain.getDriveController().setName("Drive");driveTrain.getGyroController().setName("Gyro");
  88
  89   driveTrain.getDriveController().setConstants(driveP,driveI,driveD);
  90   }
  91
  92   @Override
  93   public void autonomousPeriodic() {
  94     Scheduler.getInstance().run();
  95
  96   }
  97
  98   @Override
  99   public void teleopInit() {
 100
 101   }
 102
 103   @Override
 104   public void teleopPeriodic() {
 105     Scheduler.getInstance().run();
 106   }
 107 }