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.driving.TimeDrive;
   5 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   6 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   8
   9 import edu.wpi.first.wpilibj.CameraServer;
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  13 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19   public static IntakeArm intakeArm;
  20
  21   SendableChooser frontChooser;
  22   boolean isFront;
  23
  24   CameraServer cameraServer;
  25
  26   @Override
  27   public void robotInit() {
  28     driveTrain = new DriveTrain();
  29     shooter = new Shooter();
  30     intakeArm = new IntakeArm();
  31
  32     oi = new OI();
  33     isFront = true;
  34
  35     frontChooser = new SendableChooser();
  36     frontChooser.addDefault("Intake is front", false);
  37     frontChooser.addObject("Shooter is front", true);
  38
  39     SmartDashboard.putData("Front chooser", frontChooser);
  40
  41     cameraServer = CameraServer.getInstance();
  42     cameraServer.setQuality(50);
  43     cameraServer.startAutomaticCapture();
  44
  45   }
  46
  47   @Override
  48   public void autonomousInit() {
  49     // get options chosen from drop down menu
  50
  51     isFront = (boolean) frontChooser.getSelected();
  52
  53     if (!isFront)
  54       driveTrain.toggleFlipped();
  55
  56     Scheduler.getInstance().add(new TimeDrive(.6, 4));
  57   }
  58
  59   @Override
  60   public void autonomousPeriodic() {
  61
  62     Scheduler.getInstance().run();
  63   }
  64
  65   @Override
  66   public void teleopInit() {
  67     if (!isFront)
  68       driveTrain.toggleFlipped();
  69     Scheduler.getInstance().add(new SetLowGear());
  70   }
  71
  72   @Override
  73   public void teleopPeriodic() {
  74     Scheduler.getInstance().run();
  75   }
  76
  77 }