challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   4 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
   6 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   7 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   8 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   9
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12
  13 public class Robot extends IterativeRobot {
  14   public static OI oi;
  15   public static DriveTrain driveTrain;
  16   public static Shooter shooter;
  17   public static IntakeArm intakeArm;
  18
  19   @Override
  20   public void robotInit() {
  21     driveTrain = new DriveTrain();
  22     shooter = new Shooter();
  23     intakeArm = new IntakeArm();
  24
  25     oi = new OI();
  26   }
  27
  28   @Override
  29   public void autonomousInit() {
  30     Scheduler.getInstance().run();
  31   }
  32
  33   @Override
  34   public void autonomousPeriodic() {
  35     Scheduler.getInstance().run();
  36   }
  37
  38   @Override
  39   public void teleopInit() {
  40     Scheduler.getInstance().add(new SetLowGear()); // Start each match in low
  41                                                    // gear
  42     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
  43                                                       // of each match.
  44
  45     Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
  46     // Start testing with intake arm extended TODO remove this
  47   }
  48
  49   @Override
  50   public void teleopPeriodic() {
  51     Scheduler.getInstance().run();
  52   }
  53
  54 }