Auton changes, and more camera testing (aka plz work)

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.commands.auton.Auton;
import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;
  public static IntakeArm intakeArm;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  private static SendableChooser frontChooser;
  private static CameraServer camera;

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    intakeArm = new IntakeArm();

    oi = new OI();

    camera = CameraServer.getInstance();
    camera.setQuality(5);
    camera.startAutomaticCapture("cam0");
  }

  @Override
  public void autonomousInit() {
    //
    // Scheduler.getInstance().add(new
    // MoveIntakeArm(Constants.IntakeArm.RETRACT));
    // Scheduler.getInstance().add(new TimeDrive(1, .6));
    // Scheduler.getInstance().add(new WaitCommand(1));
    // Scheduler.getInstance().add(new
    // MoveIntakeArm(Constants.IntakeArm.EXTEND));
    Scheduler.getInstance().add(new Auton());
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();
  }

  @Override
  public void teleopInit() {
    Scheduler.getInstance().add(new SetLowGear());
  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();
  }

}