code review changes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 5f4715cb6ac2e9b1fcb8a7e1bef891cc95163eae..24eca3c88ea8f863ad58c6b612f7d527dae930e6 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -4,8 +4,12 @@ import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
@@ -19,6 +23,9 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+    CameraServer server = CameraServer.getInstance();
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -37,14 +44,16 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
+  // If the gear values do not match in the left and right piston, then they are
+  // both set to high gear
   @Override
   public void autonomousInit() {
+    driveTrain.setHighGear();
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
@@ -54,6 +63,14 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    updateSmartDashboard();
+  }
 
+  public void updateSmartDashboard() {
+    SmartDashboard.putNumber("angle", driveTrain.getAngle());
+    SmartDashboard.putNumber("voltage",
+        DriverStation.getInstance().getBatteryVoltage());
+    SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
+    SmartDashboard.putNumber("motor value", shooter.getTargetShootingSpeed());
   }
 }