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     cameraServer2 = CameraServer.getInstance();
  29     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  30     cameraFeeds = new CameraFeeds();
  31     cameraFeeds = CameraFeeds.getCameraFeeds();
  32
  33     // usbCamera = CameraServer.getInstance().startAutomaticCapture();
  34
  35     // cameraServer2 = CameraServer;getInstance();
  36     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  37
  38     // cameraServer2 = CameraServer.getInstance();
  39     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  40
  41     // usbCamera = CameraServer.getInstance().startAutomaticCapture();
  42     // CameraServer.getInstance().startAutomaticCapture();
  43     // cameraServer2 = CameraServer.getInstance();
  44     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  45
  46     // cameraFeeds = new CameraFeeds();
  47   }
  48
  49   public static DriveTrain getDriveTrain() {
  50     return DriveTrain.getDriveTrain();
  51   }
  52
  53   public static Shooter getShooter() {
  54     return Shooter.getShooter();
  55   }
  56
  57   public static CameraFeeds getCameraFeeds() {
  58     return cameraFeeds;
  59   }
  60
  61   public static OI getOI() {
  62     return OI.getOI();
  63   }
  64
  65   public static Intake getIntake() {
  66     return Intake.getIntake();
  67   }
  68
  69   // If the gear values do not match in the left and right piston, then they are
  70   // both set to high gear
  71   @Override
  72   public void autonomousInit() {
  73     driveTrain.setHighGear();
  74   }
  75
  76   @Override
  77   public void autonomousPeriodic() {
  78     Scheduler.getInstance().run();
  79
  80   }
  81
  82   @Override
  83   public void teleopInit() {
  84   }
  85
  86   @Override
  87   public void teleopPeriodic() {
  88     Scheduler.getInstance().run();
  89   }
  90 }