Running Commands

[antonyebert]

Okay so, I pretty much have my entire program done (except for the autonomous), and tried to test it out on our robot. I got everything hooked up, all the lights were on on the robot, and the driver station was giving me the go ahead. Once I hit enable though, nothing happens. I'm thinking there's a problem with my program, namely in making all of the code I wrote actually run.

In the Robot.java class (the one that has all of the Scheduler.getinstance.run() lines), do I need to run my commands for teleop and autonomous there? Or do I just leave it as is? And, if I do need to run my commands from there, how do I go about doing that? (I know how to call and run a method from an alternate class, but not the entire alternate class itself)


package org.usfirst.frc4993.Mater;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;

import org.usfirst.frc4993.Mater.commands.*;
import org.usfirst.frc4993.Mater.subsystems.*;


public class Robot extends IterativeRobot

Command autonomousCommand;

public static OI oi;

public static DriveTrain driveTrain;
public static Arms arms;




public void robotInit() {
RobotMap.init();

driveTrain = new DriveTrain();
arms = new Arms();

oi = new OI();

autonomousCommand = new AutonomousDrive();
autonomousCommand = new AutonoumousLift();

}

public void disabledInit(){

}

public void disabledPeriodic() {
Scheduler.getInstance().run();
}

public void autonomousInit() {
if (autonomousCommand != null) autonomousCommand.start();
}

public void autonomousPeriodic() {
Scheduler.getInstance().run();
}

public void teleopInit() {
if (autonomousCommand != null) autonomousCommand.cancel();
}

public void teleopPeriodic() {
Scheduler.getInstance().run();
}

public void testPeriodic() {
LiveWindow.run();
}
}