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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 | ||
dd71da2a | 8 | import edu.wpi.first.wpilibj.I2C; |
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9 | import edu.wpi.first.wpilibj.IterativeRobot; |
10 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
11 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
12 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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13 | |
14 | public class Robot extends IterativeRobot { | |
15 | public static OI oi; | |
16 | public static DriveTrain driveTrain; | |
40348cab | 17 | public static Shooter shooter; |
02cb494e | 18 | public static Scaler scaler; |
38a404b3 | 19 | |
88e66b4e | 20 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 21 | SendableChooser positionChooser; |
6947c8a4 ME |
22 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
23 | positionFourDefense, positionFiveDefense; | |
3366a59a | 24 | |
dd71da2a E |
25 | public static Lidar lidar; |
26 | ||
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27 | @Override |
28 | public void robotInit() { | |
29 | driveTrain = new DriveTrain(); | |
30 | oi = new OI(); | |
40348cab | 31 | shooter = new Shooter(); |
02cb494e | 32 | scaler = new Scaler(); |
dd71da2a | 33 | lidar = new Lidar(I2C.Port.kOnboard); |
3366a59a | 34 | |
88e66b4e ME |
35 | // Sendable Choosers allows the driver to select the position of the robot |
36 | // and the positions of the defenses from a drop-down menu on the Smart | |
37 | // Dashboard | |
29d59f48 ME |
38 | // make the Sendable Choosers |
39 | initializeSendableChoosers(); | |
40 | addPositionChooserOptions(); | |
41 | addDefensesToAllDefenseSendableChooosers(); | |
42 | sendSendableChoosersToSmartDashboard(); | |
43 | ||
3366a59a ME |
44 | } |
45 | ||
6947c8a4 ME |
46 | private void initializeSendableChoosers() { |
47 | positionChooser = new SendableChooser(); | |
48 | positionOneDefense = new SendableChooser(); | |
49 | positionTwoDefense = new SendableChooser(); | |
50 | positionThreeDefense = new SendableChooser(); | |
51 | positionFourDefense = new SendableChooser(); | |
52 | positionFiveDefense = new SendableChooser(); | |
53 | } | |
54 | ||
29d59f48 ME |
55 | private void addPositionChooserOptions() { |
56 | positionChooser.addDefault("Position 1", 1); | |
57 | positionChooser.addObject("Position 2", 2); | |
58 | positionChooser.addObject("Position 3", 3); | |
59 | positionChooser.addObject("Position 4", 4); | |
60 | positionChooser.addObject("Position 5", 5); | |
61 | } | |
62 | ||
63 | private void addDefensesToAllDefenseSendableChooosers() { | |
64 | addDefenseOptions(positionOneDefense); | |
65 | addDefenseOptions(positionTwoDefense); | |
66 | addDefenseOptions(positionThreeDefense); | |
67 | addDefenseOptions(positionFourDefense); | |
68 | addDefenseOptions(positionFiveDefense); | |
69 | } | |
70 | ||
71 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
72 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
73 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
74 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
75 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
76 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
77 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
78 | chooser.addObject("Moat", Defense.MOAT); | |
79 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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80 | } |
81 | ||
29d59f48 ME |
82 | private void sendSendableChoosersToSmartDashboard() { |
83 | SmartDashboard.putData("PositionChooser", positionChooser); | |
84 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
85 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
86 | SmartDashboard.putData("Position Three Defense Chooser", | |
87 | positionThreeDefense); | |
88 | SmartDashboard.putData("Position Four Defense Chooser", | |
89 | positionFourDefense); | |
90 | SmartDashboard.putData("Position Five Defense Chooser", | |
91 | positionFiveDefense); | |
92 | } | |
93 | ||
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94 | @Override |
95 | public void autonomousInit() { | |
3366a59a ME |
96 | Scheduler.getInstance().run(); |
97 | ||
98 | // get options chosen from drop down menu | |
99 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 100 | Integer chosenDefense = 0; |
3366a59a | 101 | |
33981335 ME |
102 | switch (chosenPosition) { |
103 | case 1: | |
3366a59a | 104 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 105 | case 2: |
3366a59a | 106 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 107 | case 3: |
3366a59a | 108 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 109 | case 4: |
3366a59a | 110 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 111 | case 5: |
3366a59a | 112 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 113 | } |
3366a59a ME |
114 | |
115 | System.out.println("Chosen Position: " + chosenPosition); | |
116 | System.out.println("Chosen Defense: " + chosenDefense); | |
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117 | } |
118 | ||
119 | @Override | |
120 | public void autonomousPeriodic() { | |
121 | Scheduler.getInstance().run(); | |
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122 | } |
123 | ||
124 | @Override | |
125 | public void teleopInit() { | |
dd71da2a | 126 | lidar.start(); |
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127 | } |
128 | ||
129 | @Override | |
130 | public void teleopPeriodic() { | |
dd71da2a | 131 | printLidarValues(); |
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132 | Scheduler.getInstance().run(); |
133 | ||
134 | } | |
dd71da2a E |
135 | |
136 | public void printLidarValues() { | |
137 | ||
138 | System.out.println(lidar.pidGet()); | |
139 | } | |
38a404b3 | 140 | } |