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.auton.Auton;
   4 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   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
  14 public class Robot extends IterativeRobot {
  15   public static OI oi;
  16   public static DriveTrain driveTrain;
  17   public static Shooter shooter;
  18   public static IntakeArm intakeArm;
  19
  20   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  21   private static SendableChooser frontChooser;
  22   private static CameraServer camera;
  23
  24   @Override
  25   public void robotInit() {
  26     driveTrain = new DriveTrain();
  27     shooter = new Shooter();
  28     intakeArm = new IntakeArm();
  29
  30     oi = new OI();
  31
  32     camera = CameraServer.getInstance();
  33     camera.setQuality(5);
  34     camera.startAutomaticCapture("cam0");
  35   }
  36
  37   @Override
  38   public void autonomousInit() {
  39     //
  40     // Scheduler.getInstance().add(new
  41     // MoveIntakeArm(Constants.IntakeArm.RETRACT));
  42     // Scheduler.getInstance().add(new TimeDrive(1, .6));
  43     // Scheduler.getInstance().add(new WaitCommand(1));
  44     // Scheduler.getInstance().add(new
  45     // MoveIntakeArm(Constants.IntakeArm.EXTEND));
  46     Scheduler.getInstance().add(new Auton());
  47   }
  48
  49   @Override
  50   public void autonomousPeriodic() {
  51     Scheduler.getInstance().run();
  52   }
  53
  54   @Override
  55   public void teleopInit() {
  56     Scheduler.getInstance().add(new SetLowGear());
  57   }
  58
  59   @Override
  60   public void teleopPeriodic() {
  61     Scheduler.getInstance().run();
  62   }
  63
  64 }