88 lines
2.2 KiB
Java
88 lines
2.2 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot;
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import edu.wpi.first.math.geometry.Pose2d;
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import edu.wpi.first.math.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.TimedRobot;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.CommandScheduler;
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import frc.robot.subsystems.ShooterSubsystem;
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public class Robot extends TimedRobot {
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private Command m_autonomousCommand;
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private final RobotContainer m_robotContainer;
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public Robot() {
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m_robotContainer = new RobotContainer();
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}
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@Override
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public void robotPeriodic() {
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CommandScheduler.getInstance().run();
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m_robotContainer.tunerPeriodic();
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m_robotContainer.dashboardPeriodic();
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}
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@Override
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public void disabledInit() {
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System.out.println("Robot disabledInit called");
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m_robotContainer.shooterSubsystem.stopAll();
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// m_robotContainer.climberSubsystem.stopAll();
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m_robotContainer.IntakerSubsystem.stopAll();
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}
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@Override
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public void disabledPeriodic() {}
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@Override
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public void disabledExit() {}
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@Override
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public void autonomousInit() {
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m_autonomousCommand = m_robotContainer.getAutonomousCommand();
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if (m_autonomousCommand != null) {
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CommandScheduler.getInstance().schedule(m_autonomousCommand);
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}
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}
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@Override
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public void autonomousPeriodic() {
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m_robotContainer.driveControls.pushDistanceData();
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}
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@Override
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public void autonomousExit() {}
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@Override
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public void teleopInit() {
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if (m_autonomousCommand != null) {
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CommandScheduler.getInstance().cancel(m_autonomousCommand);
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}
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}
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@Override
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public void teleopPeriodic() {}
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@Override
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public void teleopExit() {}
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@Override
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public void testInit() {
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CommandScheduler.getInstance().cancelAll();
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}
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@Override
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public void testPeriodic() {}
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@Override
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public void testExit() {}
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@Override
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public void simulationPeriodic() {}
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}
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