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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
2947642e | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
23e5c98d | 7 | import org.usfirst.frc.team3501.robot.subsystems.Photogate; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
c97fbce2 | 11 | import edu.wpi.first.wpilibj.I2C; |
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12 | import edu.wpi.first.wpilibj.IterativeRobot; |
13 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
14 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
15 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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16 | |
17 | public class Robot extends IterativeRobot { | |
18 | public static OI oi; | |
19 | public static DriveTrain driveTrain; | |
40348cab | 20 | public static Shooter shooter; |
2c9f5abb | 21 | |
02cb494e | 22 | public static Scaler scaler; |
c97fbce2 | 23 | |
a96fa926 | 24 | public static IntakeArm intakeArm; |
200caf63 | 25 | public static DefenseArm defenseArm; |
38a404b3 | 26 | |
23e5c98d | 27 | public static Photogate photogate; |
28 | ||
88e66b4e | 29 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 30 | SendableChooser positionChooser; |
6947c8a4 | 31 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
53f43a72 | 32 | positionFourDefense, positionFiveDefense; |
3366a59a | 33 | |
c97fbce2 | 34 | // Gyro stuff |
da6933e2 | 35 | public GyroLib gyro; |
c97fbce2 | 36 | |
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37 | @Override |
38 | public void robotInit() { | |
9742fe2e KZ |
39 | driveTrain = new DriveTrain(); |
40 | oi = new OI(); | |
da6933e2 | 41 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
2ac0cc17 | 42 | |
40348cab | 43 | shooter = new Shooter(); |
02cb494e | 44 | scaler = new Scaler(); |
a96fa926 | 45 | intakeArm = new IntakeArm(); |
3366a59a | 46 | |
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47 | initializeSendableChoosers(); |
48 | addPositionChooserOptions(); | |
49 | addDefensesToAllDefenseSendableChoosers(); | |
50 | sendSendableChoosersToSmartDashboard(); | |
51 | ||
3366a59a ME |
52 | } |
53 | ||
6947c8a4 ME |
54 | private void initializeSendableChoosers() { |
55 | positionChooser = new SendableChooser(); | |
56 | positionOneDefense = new SendableChooser(); | |
57 | positionTwoDefense = new SendableChooser(); | |
58 | positionThreeDefense = new SendableChooser(); | |
59 | positionFourDefense = new SendableChooser(); | |
60 | positionFiveDefense = new SendableChooser(); | |
61 | } | |
62 | ||
29d59f48 ME |
63 | private void addPositionChooserOptions() { |
64 | positionChooser.addDefault("Position 1", 1); | |
65 | positionChooser.addObject("Position 2", 2); | |
66 | positionChooser.addObject("Position 3", 3); | |
67 | positionChooser.addObject("Position 4", 4); | |
68 | positionChooser.addObject("Position 5", 5); | |
69 | } | |
70 | ||
9742fe2e | 71 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
72 | addDefenseOptions(positionOneDefense); |
73 | addDefenseOptions(positionTwoDefense); | |
74 | addDefenseOptions(positionThreeDefense); | |
75 | addDefenseOptions(positionFourDefense); | |
76 | addDefenseOptions(positionFiveDefense); | |
77 | } | |
78 | ||
79 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
80 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
81 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
82 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
83 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
84 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
85 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
86 | chooser.addObject("Moat", Defense.MOAT); | |
87 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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88 | } |
89 | ||
29d59f48 ME |
90 | private void sendSendableChoosersToSmartDashboard() { |
91 | SmartDashboard.putData("PositionChooser", positionChooser); | |
92 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
93 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
94 | SmartDashboard.putData("Position Three Defense Chooser", | |
95 | positionThreeDefense); | |
e23bfd98 E |
96 | SmartDashboard.putData("Position Four Defense Chooser", |
97 | positionFourDefense); | |
98 | SmartDashboard.putData("Position Five Defense Chooser", | |
99 | positionFiveDefense); | |
d06ee698 | 100 | |
e23bfd98 E |
101 | SmartDashboard.putData("Position Four Defense Chooser", |
102 | positionFourDefense); | |
103 | SmartDashboard.putData("Position Five Defense Chooser", | |
104 | positionFiveDefense); | |
105 | ||
106 | shooter = new Shooter(); | |
d06ee698 | 107 | |
29d59f48 ME |
108 | } |
109 | ||
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110 | @Override |
111 | public void autonomousInit() { | |
3366a59a ME |
112 | Scheduler.getInstance().run(); |
113 | ||
114 | // get options chosen from drop down menu | |
115 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 116 | Integer chosenDefense = 0; |
3366a59a | 117 | |
33981335 ME |
118 | switch (chosenPosition) { |
119 | case 1: | |
3366a59a | 120 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 121 | case 2: |
3366a59a | 122 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 123 | case 3: |
3366a59a | 124 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 125 | case 4: |
3366a59a | 126 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 127 | case 5: |
3366a59a | 128 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 129 | } |
3366a59a ME |
130 | |
131 | System.out.println("Chosen Position: " + chosenPosition); | |
132 | System.out.println("Chosen Defense: " + chosenDefense); | |
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133 | } |
134 | ||
135 | @Override | |
136 | public void autonomousPeriodic() { | |
137 | Scheduler.getInstance().run(); | |
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138 | } |
139 | ||
140 | @Override | |
141 | public void teleopInit() { | |
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142 | |
143 | gyro.start(); | |
144 | ||
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145 | } |
146 | ||
147 | @Override | |
148 | public void teleopPeriodic() { | |
149 | Scheduler.getInstance().run(); | |
1e039ebd | 150 | |
da6933e2 E |
151 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
152 | ||
1e039ebd E |
153 | } |
154 | ||
38a404b3 | 155 | } |