finish implement driveDistance and TurnForAngle using PID algorithm

[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 36ca70bc268a526c02d33f5531c1d8d550fcbe90..5f4715cb6ac2e9b1fcb8a7e1bef891cc95163eae 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,17 +1,40 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+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.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
 public class Robot extends IterativeRobot {
-  public static OI oi;
-  public static DriveTrain driveTrain;
+  private static DriveTrain driveTrain;
+  private static Shooter shooter;
+  private static OI oi;
+  private static Intake intake;
 
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    driveTrain = DriveTrain.getDriveTrain();
+    oi = OI.getOI();
+    shooter = Shooter.getShooter();
+    intake = Intake.getIntake();
+  }
+
+  public static DriveTrain getDriveTrain() {
+    return DriveTrain.getDriveTrain();
+  }
+
+  public static Shooter getShooter() {
+    return Shooter.getShooter();
+  }
+
+  public static OI getOI() {
+    return OI.getOI();
+  }
+
+  public static Intake getIntake() {
+    return Intake.getIntake();
   }
 
   @Override