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mirror of https://github.com/team2059/Dent synced 2024-12-18 20:52:29 -05:00
dent/DentRobot.cpp

47 lines
1.2 KiB
C++

#include "DentRobot.h"
#include "Commands/Autonomous/Autonomous.h"
OI* DentRobot::oi=NULL;
Collector* DentRobot::collector=NULL;
Drivetrain* DentRobot::drivetrain=NULL;
Elevator* DentRobot::elevator=NULL;
BinElevator* DentRobot::binElevator=NULL;
CommandGroup* DentRobot::aut=NULL;
DentRobot::DentRobot(){
oi=new OI();
collector=new Collector();
drivetrain=new Drivetrain();
elevator=new Elevator();
binElevator=new BinElevator();
aut=new Autonomous();
CameraServer::GetInstance()->SetQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
printf("Initialized");
}
void DentRobot::RobotInit(){
SmartDashboard::PutNumber("CodeVersion",0.001);
}
void DentRobot::DisabledPeriodic(){
Scheduler::GetInstance()->Run();
}
void DentRobot::AutonomousInit(){
if(aut != NULL){
aut->Start();
}
}
void DentRobot::AutonomousPeriodic(){
Scheduler::GetInstance()->Run();
}
void DentRobot::TeleopInit(){
//if (aut != NULL){
// aut->Cancel();
//}
}
void DentRobot::TeleopPeriodic(){
Scheduler::GetInstance()->Run();
}
void DentRobot::TestPeriodic(){
}
START_ROBOT_CLASS(DentRobot);
// vim: ts=2:sw=2:et