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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
e4fbab02 | 4 | import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult; |
2947642e | 5 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 7 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
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9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
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11 | import edu.wpi.first.wpilibj.IterativeRobot; |
12 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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13 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
14 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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15 | |
16 | public class Robot extends IterativeRobot { | |
17 | public static OI oi; | |
18 | public static DriveTrain driveTrain; | |
40348cab | 19 | public static Shooter shooter; |
2c9f5abb | 20 | |
02cb494e | 21 | public static Scaler scaler; |
c97fbce2 | 22 | |
a96fa926 | 23 | public static IntakeArm intakeArm; |
200caf63 | 24 | public static DefenseArm defenseArm; |
38a404b3 | 25 | |
88e66b4e | 26 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 27 | SendableChooser positionChooser; |
6947c8a4 | 28 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
53f43a72 | 29 | positionFourDefense, positionFiveDefense; |
3366a59a | 30 | |
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31 | @Override |
32 | public void robotInit() { | |
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33 | driveTrain = new DriveTrain(); |
34 | oi = new OI(); | |
2ac0cc17 | 35 | |
40348cab | 36 | shooter = new Shooter(); |
02cb494e | 37 | scaler = new Scaler(); |
a96fa926 | 38 | intakeArm = new IntakeArm(); |
3366a59a | 39 | |
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40 | initializeSendableChoosers(); |
41 | addPositionChooserOptions(); | |
42 | addDefensesToAllDefenseSendableChoosers(); | |
43 | sendSendableChoosersToSmartDashboard(); | |
44 | ||
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45 | } |
46 | ||
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47 | private void initializeSendableChoosers() { |
48 | positionChooser = new SendableChooser(); | |
49 | positionOneDefense = new SendableChooser(); | |
50 | positionTwoDefense = new SendableChooser(); | |
51 | positionThreeDefense = new SendableChooser(); | |
52 | positionFourDefense = new SendableChooser(); | |
53 | positionFiveDefense = new SendableChooser(); | |
54 | } | |
55 | ||
29d59f48 ME |
56 | private void addPositionChooserOptions() { |
57 | positionChooser.addDefault("Position 1", 1); | |
58 | positionChooser.addObject("Position 2", 2); | |
59 | positionChooser.addObject("Position 3", 3); | |
60 | positionChooser.addObject("Position 4", 4); | |
61 | positionChooser.addObject("Position 5", 5); | |
62 | } | |
63 | ||
9742fe2e | 64 | private void addDefensesToAllDefenseSendableChoosers() { |
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65 | addDefenseOptions(positionOneDefense); |
66 | addDefenseOptions(positionTwoDefense); | |
67 | addDefenseOptions(positionThreeDefense); | |
68 | addDefenseOptions(positionFourDefense); | |
69 | addDefenseOptions(positionFiveDefense); | |
70 | } | |
71 | ||
72 | private void addDefenseOptions(SendableChooser chooser) { | |
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73 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
74 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
75 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
76 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
77 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
78 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
79 | chooser.addObject("Moat", Defense.MOAT); | |
80 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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81 | } |
82 | ||
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83 | private void sendSendableChoosersToSmartDashboard() { |
84 | SmartDashboard.putData("PositionChooser", positionChooser); | |
85 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
86 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
87 | SmartDashboard.putData("Position Three Defense Chooser", | |
88 | positionThreeDefense); | |
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89 | SmartDashboard |
90 | .putData("Position Four Defense Chooser", positionFourDefense); | |
91 | SmartDashboard | |
92 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
d06ee698 | 93 | |
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94 | SmartDashboard |
95 | .putData("Position Four Defense Chooser", positionFourDefense); | |
96 | SmartDashboard | |
97 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
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98 | |
99 | shooter = new Shooter(); | |
d06ee698 | 100 | |
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101 | } |
102 | ||
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103 | @Override |
104 | public void autonomousInit() { | |
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105 | Scheduler.getInstance().run(); |
106 | ||
107 | // get options chosen from drop down menu | |
108 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 109 | Integer chosenDefense = 0; |
3366a59a | 110 | |
ee177a4a | 111 | if (chosenPosition == 1) |
3366a59a | 112 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
ee177a4a | 113 | else if (chosenPosition == 2) |
3366a59a | 114 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
ee177a4a | 115 | else if (chosenPosition == 3) |
3366a59a | 116 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
ee177a4a | 117 | else if (chosenPosition == 4) |
3366a59a | 118 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
ee177a4a | 119 | else if (chosenPosition == 5) |
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120 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
121 | ||
122 | System.out.println("Chosen Position: " + chosenPosition); | |
123 | System.out.println("Chosen Defense: " + chosenDefense); | |
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124 | } |
125 | ||
126 | @Override | |
127 | public void autonomousPeriodic() { | |
128 | Scheduler.getInstance().run(); | |
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129 | } |
130 | ||
131 | @Override | |
132 | public void teleopInit() { | |
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133 | Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start |
134 | // of each match. | |
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135 | } |
136 | ||
137 | @Override | |
138 | public void teleopPeriodic() { | |
139 | Scheduler.getInstance().run(); | |
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140 | } |
141 | ||
38a404b3 | 142 | } |