public Robot() {
server = CameraServer.getInstance();
server.setQuality(50);
// the camera name (ex "cam0") can be found through the roborio web
// interface
server.startAutomaticCapture("cam0");
table = NetworkTable.getTable("SharkCV/contours/0");
autonomousCommand = new Auton();
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
RobotMap.init();
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
drive = new Drive();
elevator = new Elevator();
claw = new Claw();
lights = new Lights();
camera = CameraServer.getInstance();
camera.setQuality(50);
camera.startAutomaticCapture("cam0");
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
// OI must be constructed after subsystems. If the OI creates Commands
// (which it very likely will), subsystems are not guaranteed to be
// constructed yet. Thus, their requires() statements may grab null
// pointers. Bad news. Don't move it.
oi = new OI();
// instantiate the command used for the autonomous period
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
autonomousCommand = new Figure8();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Auto1RightLow", new Auto1RightLow()); /*-Default-*/
chooser.addObject("Auto1RightHigh", new Auto1RightHigh());
chooser.addObject("Auto2RightLow", new Auto2RightLow());
chooser.addObject("Auto3MidHigh", new Auto3MidHigh());
chooser.addObject("Auto4MidHigh", new Auto4MidHigh());
chooser.addObject("Auto5LeftLow", new Auto5LeftLow());
chooser.addObject("Auto5MidHigh", new Auto5MidHigh());
chooser.addObject("AutoCross", new AutoCross());
chooser.addObject("AutoGenericRightLow", new AutoGenericRightLow());
chooser.addObject("AutoGenericLeftLow", new AutoGenericLeftLow());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser);
CameraServer.getInstance().startAutomaticCapture("cam2");
}
public void teleopPeriodic() {
Definitions.drivetrain.arcadeDrive(
Definitions.xbox1.getRawAxis(1), Definitions.xbox1.getRawAxis(4), false);
DriveShifter.checkGearShift();
SparkyIntakeBar.loadingRoutine();
Shooter.firingRoutine(5000);
ArduinoComm.communicate();
try {
if (!backfailed && !frontfailed) {
if (Definitions.buttonbox.getRawButton(2) && !lastbutton4) {
if (currsession == front) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = back;
NIVision.IMAQdxConfigureGrab(currsession);
} else if (currsession == back) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = front;
NIVision.IMAQdxConfigureGrab(currsession);
}
}
}
lastbutton4 = Definitions.buttonbox.getRawButton(2);
NIVision.IMAQdxGrab(currsession, frame, 1);
CameraServer.getInstance().setImage(frame);
} catch (Exception e) {
// System.out.println("Camera problem");
}
SmartDashboard.putNumber("Pressure", 250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25);
SmartDashboard.putNumber("ballSeater", Definitions.ballholder.get() ? 1 : 0);
SmartDashboard.putBoolean(
"catapultReady", (250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25) > 40);
if (Definitions.joystick.getRawButton(3) && !lastbutton3) {
Definitions.flashlightrelay.set(
Definitions.flashlightrelay.get() == Relay.Value.kOff
? Relay.Value.kForward
: Relay.Value.kOff);
}
// System.out.println(Definitions.flashlightrelay.get());
lastbutton3 = Definitions.joystick.getRawButton(3);
System.out.println(Definitions.pdp.getCurrent(4));
Timer.delay(0.01);
}
public Robot() {
server = CameraServer.getInstance();
server.setQuality(50);
// the camera name (ex "cam0") can be found through the roborio web interface
server.startAutomaticCapture("cam0");
}
