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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
bd5a85e3 | 3 | import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation; |
53d61b3e | 4 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
8a0a9571 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
f81370d3 | 7 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
2680d6fc | 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; | |
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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; |
fbab1d06 | 21 | |
02cb494e | 22 | public static Scaler scaler; |
bd5a85e3 | 23 | double then; |
f81370d3 | 24 | public static IntakeArm intakeArm; |
bd5a85e3 | 25 | public static DefenseArm defenseArm; |
38a404b3 | 26 | |
88e66b4e | 27 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 28 | SendableChooser positionChooser; |
6947c8a4 | 29 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
bd5a85e3 | 30 | positionFourDefense, positionFiveDefense; |
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31 | |
32 | // Gyro stuff | |
33 | private final static double NANOSECONDS_PER_SECOND = 1000000000; | |
34 | short rawValue; | |
9c83d56e | 35 | public GyroClass gyro; |
2680d6fc | 36 | |
bd5a85e3 | 37 | double now; |
213e82b1 | 38 | double degreesIncreased; |
2680d6fc | 39 | double degrees; |
3366a59a | 40 | |
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41 | Rotation rotation; |
42 | ||
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43 | @Override |
44 | public void robotInit() { | |
2680d6fc | 45 | // driveTrain = new DriveTrain(); |
bd5a85e3 | 46 | gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW); |
2680d6fc | 47 | // oi = new OI(); |
5d5bc4ed | 48 | |
40348cab | 49 | shooter = new Shooter(); |
02cb494e | 50 | scaler = new Scaler(); |
8a0a9571 | 51 | defenseArm = new DefenseArm(); |
2680d6fc | 52 | intakeArm = new IntakeArm(); |
3366a59a | 53 | |
bd5a85e3 E |
54 | // Sendable Choosers allows the driver to select the position of the |
55 | // robot | |
88e66b4e ME |
56 | // and the positions of the defenses from a drop-down menu on the Smart |
57 | // Dashboard | |
29d59f48 | 58 | // make the Sendable Choosers |
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59 | // initializeSendableChoosers(); |
60 | // addPositionChooserOptions(); | |
61 | // addDefensesToAllDefenseSendableChooosers(); | |
62 | // sendSendableChoosersToSmartDashboard(); | |
29d59f48 | 63 | |
3366a59a ME |
64 | } |
65 | ||
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66 | private void initializeSendableChoosers() { |
67 | positionChooser = new SendableChooser(); | |
68 | positionOneDefense = new SendableChooser(); | |
69 | positionTwoDefense = new SendableChooser(); | |
70 | positionThreeDefense = new SendableChooser(); | |
71 | positionFourDefense = new SendableChooser(); | |
72 | positionFiveDefense = new SendableChooser(); | |
73 | } | |
74 | ||
29d59f48 ME |
75 | private void addPositionChooserOptions() { |
76 | positionChooser.addDefault("Position 1", 1); | |
77 | positionChooser.addObject("Position 2", 2); | |
78 | positionChooser.addObject("Position 3", 3); | |
79 | positionChooser.addObject("Position 4", 4); | |
80 | positionChooser.addObject("Position 5", 5); | |
81 | } | |
82 | ||
83 | private void addDefensesToAllDefenseSendableChooosers() { | |
84 | addDefenseOptions(positionOneDefense); | |
85 | addDefenseOptions(positionTwoDefense); | |
86 | addDefenseOptions(positionThreeDefense); | |
87 | addDefenseOptions(positionFourDefense); | |
88 | addDefenseOptions(positionFiveDefense); | |
89 | } | |
90 | ||
91 | private void addDefenseOptions(SendableChooser chooser) { | |
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92 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
93 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
94 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
95 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
96 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
97 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
98 | chooser.addObject("Moat", Defense.MOAT); | |
99 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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100 | } |
101 | ||
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102 | private void sendSendableChoosersToSmartDashboard() { |
103 | SmartDashboard.putData("PositionChooser", positionChooser); | |
104 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
105 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
106 | SmartDashboard.putData("Position Three Defense Chooser", | |
107 | positionThreeDefense); | |
108 | SmartDashboard.putData("Position Four Defense Chooser", | |
109 | positionFourDefense); | |
110 | SmartDashboard.putData("Position Five Defense Chooser", | |
111 | positionFiveDefense); | |
213e82b1 | 112 | |
6740fa40 E |
113 | SmartDashboard.putData("Position Four Defense Chooser", |
114 | positionFourDefense); | |
115 | SmartDashboard.putData("Position Five Defense Chooser", | |
116 | positionFiveDefense); | |
117 | ||
118 | shooter = new Shooter(); | |
213e82b1 | 119 | |
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120 | } |
121 | ||
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122 | @Override |
123 | public void autonomousInit() { | |
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124 | Scheduler.getInstance().run(); |
125 | ||
126 | // get options chosen from drop down menu | |
127 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 128 | Integer chosenDefense = 0; |
3366a59a | 129 | |
33981335 ME |
130 | switch (chosenPosition) { |
131 | case 1: | |
3366a59a | 132 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 133 | case 2: |
3366a59a | 134 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 135 | case 3: |
3366a59a | 136 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 137 | case 4: |
3366a59a | 138 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 139 | case 5: |
3366a59a | 140 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 141 | } |
3366a59a ME |
142 | |
143 | System.out.println("Chosen Position: " + chosenPosition); | |
144 | System.out.println("Chosen Defense: " + chosenDefense); | |
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145 | } |
146 | ||
147 | @Override | |
148 | public void autonomousPeriodic() { | |
149 | Scheduler.getInstance().run(); | |
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150 | } |
151 | ||
152 | @Override | |
153 | public void teleopInit() { | |
154 | } | |
155 | ||
156 | @Override | |
157 | public void teleopPeriodic() { | |
158 | Scheduler.getInstance().run(); | |
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159 | |
160 | } | |
161 | ||
162 | public double getZAxisDegreesPerSeconds() { | |
163 | double rawValue = gyro.getRotationZ() / 14.375; | |
164 | return rawValue; | |
165 | } | |
166 | ||
167 | public void initializeGyro() { | |
168 | degrees = 0; | |
169 | then = System.nanoTime() / 1000000000.0; | |
170 | gyro.reset(); | |
171 | gyro.initialize(); | |
172 | System.out.println("Testing Gyro Init"); | |
173 | } | |
174 | ||
175 | public void addZAxisDegrees() { | |
176 | double degreesRead = getZAxisDegreesPerSeconds(); | |
177 | now = System.nanoTime(); | |
178 | now = now / (1000000000.0); | |
179 | double differenceInTime = now - then; | |
180 | then = now; | |
181 | degreesIncreased = differenceInTime * degreesRead; | |
182 | ||
183 | // 0.0 = register | |
184 | // + 1.0 is the formula constant | |
185 | // | |
186 | degrees += degreesIncreased; | |
187 | ||
188 | } | |
189 | ||
190 | public double getDegrees() { | |
191 | return degrees; | |
38a404b3 | 192 | } |
213e82b1 | 193 | |
38a404b3 | 194 | } |