Robot.cpp

// RobotBuilder Version: 1.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// C++ from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in th future.
#include "Robot.h"
#include "wpilib/networktables2/type/NumberArray.h"
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INITIALIZATION
DriveTrain* Robot::driveTrain = 0;
Feeder* Robot::feeder = 0;
Launcher* Robot::launcher = 0;
Pneumatic* Robot::pneumatic = 0;
FeederSolenoid* Robot::feederSolenoid = 0;
Camera* Robot::camera = 0;
DistanceSensor* Robot::distanceSensor = 0;
OI* Robot::oi = 0;
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=INITIALIZATION
void Robot::RobotInit() {
	RobotMap::init();
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	driveTrain = new DriveTrain();
	feeder = new Feeder();
	launcher = new Launcher();
	pneumatic = new Pneumatic();
	feederSolenoid = new FeederSolenoid();
	camera = new Camera();
	distanceSensor = new DistanceSensor();
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
	// This MUST be here. If the OI creates Commands (which it very likely
	// will), constructing it during the construction of CommandBase (from
	// which commands extend), subsystems are not guaranteed to be
	// yet. Thus, their requires() statements may grab null pointers. Bad
	// news. Don't move it.
	oi = new OI();
	lw = LiveWindow::GetInstance();
	// instantiate the command used for the autonomous period
	// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
	autonomousCommand = new AutonomousCommand();
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
	
	//NetworkTable *table = NetworkTable::GetTable("datatable");
	//NumberArray apRatioArray;
	//table->RetrieveValue("AP_RATIO", apRatioArray);
    /*SmartDashboard::PutNumber("apratio blob1", apRatioArray.get(0));
    SmartDashboard::PutNumber("apratio blob2", apRatioArray.get(1));*/
  }
	
void Robot::AutonomousInit() {
	if (autonomousCommand != NULL)
		autonomousCommand->Start();
}
	
void Robot::AutonomousPeriodic() {
	Scheduler::GetInstance()->Run();
	//Robot::camera->setTargetState(camera->isHot(areaArray, apRatioArray));
}
	
void Robot::TeleopInit() {
	// This makes sure that the autonomous stops running when
	// teleop starts running. If you want the autonomous to 
	// continue until interrupted by another command, remove
	// this line or comment it out.
	autonomousCommand->Cancel();
	
}
	
void Robot::TeleopPeriodic() {
	if (autonomousCommand != NULL)
		Scheduler::GetInstance()->Run();
}
void Robot::TestPeriodic() {
	lw->Run();
}
void setTargetSettings() {
	
}
START_ROBOT_CLASS(Robot);