Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
047383c3 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
02cb494e | 5 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
6 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
7 | ||
38a404b3 KZ |
8 | import edu.wpi.first.wpilibj.IterativeRobot; |
9 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
10 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
11 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
38a404b3 KZ |
12 | |
13 | public class Robot extends IterativeRobot { | |
14 | public static OI oi; | |
15 | public static DriveTrain driveTrain; | |
40348cab | 16 | public static Shooter shooter; |
02cb494e | 17 | public static Scaler scaler; |
38a404b3 | 18 | |
88e66b4e | 19 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 20 | SendableChooser positionChooser; |
6947c8a4 ME |
21 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
22 | positionFourDefense, positionFiveDefense; | |
3366a59a | 23 | |
38a404b3 KZ |
24 | @Override |
25 | public void robotInit() { | |
26 | driveTrain = new DriveTrain(); | |
27 | oi = new OI(); | |
40348cab | 28 | shooter = new Shooter(); |
02cb494e | 29 | scaler = new Scaler(); |
3366a59a | 30 | |
88e66b4e ME |
31 | // Sendable Choosers allows the driver to select the position of the robot |
32 | // and the positions of the defenses from a drop-down menu on the Smart | |
33 | // Dashboard | |
29d59f48 ME |
34 | // make the Sendable Choosers |
35 | initializeSendableChoosers(); | |
36 | addPositionChooserOptions(); | |
37 | addDefensesToAllDefenseSendableChooosers(); | |
38 | sendSendableChoosersToSmartDashboard(); | |
39 | ||
3366a59a ME |
40 | } |
41 | ||
6947c8a4 ME |
42 | private void initializeSendableChoosers() { |
43 | positionChooser = new SendableChooser(); | |
44 | positionOneDefense = new SendableChooser(); | |
45 | positionTwoDefense = new SendableChooser(); | |
46 | positionThreeDefense = new SendableChooser(); | |
47 | positionFourDefense = new SendableChooser(); | |
48 | positionFiveDefense = new SendableChooser(); | |
49 | } | |
50 | ||
29d59f48 ME |
51 | private void addPositionChooserOptions() { |
52 | positionChooser.addDefault("Position 1", 1); | |
53 | positionChooser.addObject("Position 2", 2); | |
54 | positionChooser.addObject("Position 3", 3); | |
55 | positionChooser.addObject("Position 4", 4); | |
56 | positionChooser.addObject("Position 5", 5); | |
57 | } | |
58 | ||
59 | private void addDefensesToAllDefenseSendableChooosers() { | |
60 | addDefenseOptions(positionOneDefense); | |
61 | addDefenseOptions(positionTwoDefense); | |
62 | addDefenseOptions(positionThreeDefense); | |
63 | addDefenseOptions(positionFourDefense); | |
64 | addDefenseOptions(positionFiveDefense); | |
65 | } | |
66 | ||
67 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
68 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
69 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
70 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
71 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
72 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
73 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
74 | chooser.addObject("Moat", Defense.MOAT); | |
75 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
38a404b3 KZ |
76 | } |
77 | ||
29d59f48 ME |
78 | private void sendSendableChoosersToSmartDashboard() { |
79 | SmartDashboard.putData("PositionChooser", positionChooser); | |
80 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
81 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
82 | SmartDashboard.putData("Position Three Defense Chooser", | |
83 | positionThreeDefense); | |
84 | SmartDashboard.putData("Position Four Defense Chooser", | |
85 | positionFourDefense); | |
86 | SmartDashboard.putData("Position Five Defense Chooser", | |
87 | positionFiveDefense); | |
88 | } | |
89 | ||
38a404b3 KZ |
90 | @Override |
91 | public void autonomousInit() { | |
3366a59a ME |
92 | Scheduler.getInstance().run(); |
93 | ||
94 | // get options chosen from drop down menu | |
95 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 96 | Integer chosenDefense = 0; |
3366a59a | 97 | |
33981335 ME |
98 | switch (chosenPosition) { |
99 | case 1: | |
3366a59a | 100 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 101 | case 2: |
3366a59a | 102 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 103 | case 3: |
3366a59a | 104 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 105 | case 4: |
3366a59a | 106 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 107 | case 5: |
3366a59a | 108 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 109 | } |
3366a59a ME |
110 | |
111 | System.out.println("Chosen Position: " + chosenPosition); | |
112 | System.out.println("Chosen Defense: " + chosenDefense); | |
38a404b3 KZ |
113 | } |
114 | ||
115 | @Override | |
116 | public void autonomousPeriodic() { | |
117 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
118 | } |
119 | ||
120 | @Override | |
121 | public void teleopInit() { | |
122 | } | |
123 | ||
124 | @Override | |
125 | public void teleopPeriodic() { | |
126 | Scheduler.getInstance().run(); | |
127 | ||
128 | } | |
129 | } |