2 package org
.usfirst
.frc
.team3501
.robot
;
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 import edu
.wpi
.first
.wpilibj
.smartdashboard
.SendableChooser
;
9 import edu
.wpi
.first
.wpilibj
.smartdashboard
.SmartDashboard
;
11 import org
.usfirst
.frc
.team3501
.robot
.autons
.*;
12 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.*;
14 public class Robot
extends IterativeRobot
{
16 public static Drivetrain drivetrain
;
17 public static Arm arm
;
18 public static Claw claw
;
20 public static Pneumatics pneumatics
;
24 private SendableChooser autoChooser
;
26 private Command autonomousCommand
;
28 public void robotInit() {
31 drivetrain
= new Drivetrain();
35 pneumatics
= new Pneumatics();
40 public void disabledPeriodic() {
41 Scheduler
.getInstance().run();
44 public void autonomousInit() {
47 autonomousCommand
= (Command
) autoChooser
.getSelected();
48 autonomousCommand
.start();
51 public void autonomousPeriodic() {
52 Scheduler
.getInstance().run();
55 public void teleopInit() {
58 autonomousCommand
.cancel();
61 public void teleopPeriodic() {
62 Scheduler
.getInstance().run();
65 public void testPeriodic() {
69 public void disabledInit() {
73 private void chooseAuto() {
74 autoChooser
= new SendableChooser();
76 autoChooser
.addDefault("Drive over step", new DriveOverStep());
77 autoChooser
.addObject("Drive past step", new DrivePastStep());
79 SmartDashboard
.putData("Auto Mode", autoChooser
);