Commit | Line | Data |
---|---|---|
b449387d LH |
1 | |
2 | package org.usfirst.frc.team3501.robot; | |
3 | ||
4 | import edu.wpi.first.wpilibj.IterativeRobot; | |
5 | import edu.wpi.first.wpilibj.command.Command; | |
6 | import edu.wpi.first.wpilibj.command.Scheduler; | |
7 | import edu.wpi.first.wpilibj.livewindow.LiveWindow; | |
8 | ||
9 | import org.usfirst.frc.team3501.robot.commands.*; | |
10 | import org.usfirst.frc.team3501.robot.subsystems.*; | |
11 | ||
12 | public class Robot extends IterativeRobot { | |
13 | ||
14 | public static final Drivetrain drivetrain = new Drivetrain(); | |
15 | public static final Arm arm = new Arm(); | |
16 | public static final Claw claw = new Claw(); | |
17 | ||
18 | public static OI oi; | |
19 | ||
20 | Command autonomousCommand; | |
21 | ||
22 | public void robotInit() { | |
23 | oi = new OI(); | |
24 | ||
25 | double time = 1.2; | |
26 | double speed = 0.7; | |
27 | autonomousCommand = new DriveForward(time, speed); | |
28 | } | |
29 | ||
30 | public void disabledPeriodic() { | |
31 | Scheduler.getInstance().run(); | |
32 | } | |
33 | ||
34 | public void autonomousInit() { | |
35 | autonomousCommand.start(); | |
36 | } | |
37 | ||
38 | public void autonomousPeriodic() { | |
39 | Scheduler.getInstance().run(); | |
40 | } | |
41 | ||
42 | public void teleopInit() { | |
43 | autonomousCommand.cancel(); | |
44 | } | |
45 | ||
46 | public void teleopPeriodic() { | |
47 | Scheduler.getInstance().run(); | |
48 | ||
49 | ||
50 | } | |
51 | ||
52 | public void testPeriodic() { | |
53 | LiveWindow.run(); | |
54 | } | |
55 | } |