Team4388/2023WayOfTheRobot
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Update Robot.java

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This commit is contained in:
Aarav Shah
2023-03-14 15:20:05 -06:00
committed by GitHub
parent d6569c78d3
commit 4dab41ffee
1 changed files with 5 additions and 33 deletions
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src/main/java/frc4388/robot/Robot.java
+5 -33
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@@ -45,9 +45,6 @@ public class Robot extends TimedRobot {
private RobotTime m_robotTime = RobotTime.getInstance(); private RobotTime m_robotTime = RobotTime.getInstance();
private RobotContainer m_robotContainer; private RobotContainer m_robotContainer;
private Location location = new Location();
/** /**
* This function is run when the robot is first started up and should be * This function is run when the robot is first started up and should be
* used for any initialization code. * used for any initialization code.
@@ -72,18 +69,13 @@ public class Robot extends TimedRobot {
@Override @Override
public void robotPeriodic() { public void robotPeriodic() {
m_robotTime.updateTimes(); m_robotTime.updateTimes();
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled // Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands, // commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic // and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work. // block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run(); CommandScheduler.getInstance().run();
final Tag pos = location.getPosRot();
if (pos != null) {
SmartDashboard.putNumber("x position", pos.x);
}
//ystem.out.print(apriltagPos[0]);
} }
/** /**
@@ -91,28 +83,13 @@ public class Robot extends TimedRobot {
* You can use it to reset any subsystem information you want to clear when * You can use it to reset any subsystem information you want to clear when
* the robot is disabled. * the robot is disabled.
*/ */
boolean dis = false;
@Override @Override
public void disabledInit() { public void disabledInit() {
// m_robotContainer.m_robotClaw.setClaw(false);
m_robotTime.endMatchTime(); m_robotTime.endMatchTime();
m_robotContainer.m_robotClaw.disable();
m_handle = m_robotContainer.m_robotMap.leftBackWheel.getHandle();
} }
long m_handle = 0;
@Override @Override
public void disabledPeriodic() { public void disabledPeriodic() {}
// if (dis) {
// MotControllerJNI.Set_4(m_handle, ControlMode.PercentOutput.value, 1, 1, DemandType.Neutral.value);
// // m_robotContainer.m_robotMap.leftBackSteer.set(ControlMode.PercentOutput, 1, DemandType.Neutral, 0);
// // m_robotContainer.m_robotSwerveDrive.driveWithInput(new Translation2d(.5, 0), new Translation2d(), true);
// }
// System.out.println("hi from disabled");
}
@Override @Override
public void disabledExit() { public void disabledExit() {
@@ -145,9 +122,6 @@ public class Robot extends TimedRobot {
@Override @Override
public void teleopInit() { public void teleopInit() {
m_robotContainer.m_robotSwerveDrive.resetGyro(); m_robotContainer.m_robotSwerveDrive.resetGyro();
dis = true;
m_robotContainer.m_robotClaw.enable();
// This makes sure that the autonomous stops running when // This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to // teleop starts running. If you want the autonomous to
@@ -164,13 +138,11 @@ public class Robot extends TimedRobot {
* This function is called periodically during operator control. * This function is called periodically during operator control.
*/ */
@Override @Override
public void teleopPeriodic() { public void teleopPeriodic() {}
}
/** /**
* This function is called periodically during test mode. * This function is called periodically during test mode.
*/ */
@Override @Override
public void testPeriodic() { public void testPeriodic() {}
}
} }