add cameras

[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 6d1094c641ad98d7c42147e69f507e5bcb5bb64e..c446a8687b22642a025abafecabfa9ecaf167717 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -3,8 +3,9 @@ package org.usfirst.frc.team3501.robot;
 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 org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 
@@ -13,7 +14,6 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
-  private HallEffectSensor hallEffect;
 
   @Override
   public void robotInit() {
@@ -21,8 +21,9 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-
-    hallEffect = Shooter.getHallEffectSensor();
+    CameraServer server = CameraServer.getInstance();
+    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -51,7 +52,6 @@ public class Robot extends IterativeRobot {
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override
@@ -62,6 +62,5 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-    System.out.println("Hall Effect Period: " + hallEffect.getCounterPeriod());
   }
 }