Robot.java 文件源码

/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {


    chooser = new SendableChooser<Command>();
    chassis = new Chassis();
    intake = new Intake();
    winch = new Winch();
//  shooter = new Shooter();

    oi = new OI();
    imu = new ADIS16448_IMU(ADIS16448_IMU.Axis.kX);
    pdp = new PowerDistributionPanel();

    chooser.addDefault("Drive Straight", new DriveStraight(73, 0.5));
    //chooser.addObject("Left Gear Curve", new LeftGearCurve());
    chooser.addObject("Left Gear Turn", new LeftGearTurn());
    //chooser.addObject("Right Gear Curve", new RightGearCurve());
    chooser.addObject("Right Gear Turn", new RightGearTurn());
    chooser.addObject("Middle Gear", new StraightGear());
    chooser.addObject("Turn in place", new TurnDegrees(60, .2));
    SmartDashboard.putData("Autonomous Chooser", chooser);
}