import edu.wpi.first.wpilibj.Joystick;
public class OI {
+ private static OI oi;
public static Joystick leftJoystick;
public static Joystick rightJoystick;
rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
}
+
+ public static OI getOI(){
+ if(oi == null)
+ oi = new OI();
+ return oi;
+ }
}
package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
public class Robot extends IterativeRobot {
- public static OI oi;
- public static DriveTrain driveTrain;
@Override
public void robotInit() {
- driveTrain = new DriveTrain();
- oi = new OI();
+ DriveTrain.getDriveTrain();
+ OI.getOI();
+ }
+
+ public static DriveTrain getDriveTrain(){
+ return DriveTrain.getDriveTrain();
+ }
+
+ public static OI getOI(){
+ return OI.getOI();
}
@Override
import edu.wpi.first.wpilibj.command.Subsystem;
public class DriveTrain extends Subsystem {
+ private static DriveTrain driveTrain;
private CANTalon frontLeft, frontRight, rearLeft, rearRight;
- public DriveTrain() {
+ private DriveTrain() {
frontLeft = new CANTalon(Constants.DriveTrain.FRONT_LEFT);
frontRight = new CANTalon(Constants.DriveTrain.FRONT_RIGHT);
rearLeft = new CANTalon(Constants.DriveTrain.REAR_LEFT);
rearRight = new CANTalon(Constants.DriveTrain.REAR_RIGHT);
}
+
+ public static DriveTrain getDriveTrain(){
+ if(driveTrain == null)
+ driveTrain = new DriveTrain();
+ return driveTrain;
+ }
@Override
protected void initDefaultCommand() {