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;
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);
+
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
public static DriveTrain getDriveTrain() {
@Override
public void autonomousInit() {
driveTrain.setHighGear();
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
-
}
@Override
public void teleopInit() {
-
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
}
@Override
public void teleopPeriodic() {
+ // driveTrain.printEncoderOutput();
Scheduler.getInstance().run();
+ updateSmartDashboard();
+ }
+
+ @Override
+ public void disabledInit() {
+ driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
+ }
+ //
+ // @Override
+ // public void disabledPeriodic() {
+ // Scheduler.getInstance().add(new RunFlyWheel(2));
+ // }
+ public void updateSmartDashboard() {
+ SmartDashboard.putNumber("left encode ",
+ driveTrain.getLeftEncoderDistance());
+ SmartDashboard.putNumber("right encoder",
+ driveTrain.getRightEncoderDistance());
+ SmartDashboard.putNumber("angle", driveTrain.getAngle());
+ SmartDashboard.putNumber("voltage",
+ DriverStation.getInstance().getBatteryVoltage());
+ SmartDashboard.putNumber("rpm", shooter.getShooterRPM());
+ SmartDashboard.putNumber("target shooting",
+ shooter.getTargetShootingSpeed());
}
}