Add camera, change to arcade drive, front chooser only, minor driving fixes

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;
  public static IntakeArm intakeArm;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  private static SendableChooser frontChooser;
  private static CameraServer camera;

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    intakeArm = new IntakeArm();

    oi = new OI();

    initializeSendableChooser();
    addFrontChooserOptions();
    sendSendableChooserToSmartDashboard();

    camera = CameraServer.getInstance();
    camera.setQuality(50);
    camera.startAutomaticCapture("cam0");
  }

  private void initializeSendableChooser() {
    frontChooser = new SendableChooser();
  }

  private void addFrontChooserOptions() {
    frontChooser.addDefault("Intake", false);
    frontChooser.addObject("Shooter", true);
  }

  private void sendSendableChooserToSmartDashboard() {
    SmartDashboard.putData("PositionChooser", frontChooser);
  }

  @Override
  public void autonomousInit() {
    // get options chosen from drop down menu
    boolean flip = (boolean) frontChooser.getSelected();

    if (flip) {
      driveTrain.toggleFlipped();
    }

    Scheduler.getInstance().add(new TimeDrive(4, .7));
  }

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

  @Override
  public void teleopInit() {
    Scheduler.getInstance().add(new SetLowGear());
  }

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

}