Check before auton if both gears have the same value

[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 00ad1cb9d8f13168f8c5668f155c113f2bdbb09f..db5e469ff3be6a031e0efbfc571c6a9a13727cfd 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,8 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
+import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
 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;
@@ -11,14 +12,14 @@ public class Robot extends IterativeRobot {
   private static DriveTrain driveTrain;
   private static Shooter shooter;
   private static OI oi;
-  private static Shooter shooter;
+  private static Intake intake;
 
   @Override
   public void robotInit() {
     driveTrain = DriveTrain.getDriveTrain();
     oi = OI.getOI();
     shooter = Shooter.getShooter();
-
+    intake = Intake.getIntake();
   }
 
   public static DriveTrain getDriveTrain() {
@@ -33,13 +34,19 @@ public class Robot extends IterativeRobot {
     return OI.getOI();
   }
 
-  public static Shooter getShooter() {
-    return Shooter.getShooter();
+  public static Intake getIntake() {
+    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() {
-    Scheduler.getInstance().add(new TimeDrive(1.5, 0.4));
+    Scheduler.getInstance().add(new DriveDistance(25, 10));
+    if (driveTrain.getLeftGearPistonValue() != driveTrain
+        .getRightGearPistonValue()) {
+      driveTrain.setHighGear();
+    }
   }
 
   @Override
@@ -50,6 +57,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
   }
 
   @Override