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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
8a0a9571 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
f81370d3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 7 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
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8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
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10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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12 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
13 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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14 | |
15 | public class Robot extends IterativeRobot { | |
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16 | public static OI oi; |
17 | public static DriveTrain driveTrain; | |
18 | public static Shooter shooter; | |
19 | public static Scaler scaler; | |
20 | public static IntakeArm intakeArm; | |
21 | public static DefenseArm defenseArm; | |
38a404b3 | 22 | |
88e66b4e | 23 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 24 | SendableChooser positionChooser; |
6947c8a4 | 25 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
2faa7f35 | 26 | positionFourDefense, positionFiveDefense; |
2680d6fc | 27 | |
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28 | @Override |
29 | public void robotInit() { | |
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30 | driveTrain = new DriveTrain(); |
31 | oi = new OI(); | |
40348cab | 32 | shooter = new Shooter(); |
02cb494e | 33 | scaler = new Scaler(); |
8a0a9571 | 34 | defenseArm = new DefenseArm(); |
2680d6fc | 35 | intakeArm = new IntakeArm(); |
3366a59a | 36 | |
2faa7f35 SG |
37 | // Sendable Choosers allows the driver to select the position of the robot |
38 | // and the positions of the defenses from a drop-down menu on the Smart | |
39 | // Dashboard | |
40 | // make the Sendable Choosers | |
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41 | initializeSendableChoosers(); |
42 | addPositionChooserOptions(); | |
2faa7f35 | 43 | addDefensesToAllDefenseSendableChooosers(); |
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44 | sendSendableChoosersToSmartDashboard(); |
45 | ||
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46 | } |
47 | ||
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48 | private void initializeSendableChoosers() { |
49 | positionChooser = new SendableChooser(); | |
50 | positionOneDefense = new SendableChooser(); | |
51 | positionTwoDefense = new SendableChooser(); | |
52 | positionThreeDefense = new SendableChooser(); | |
53 | positionFourDefense = new SendableChooser(); | |
54 | positionFiveDefense = new SendableChooser(); | |
55 | } | |
56 | ||
29d59f48 ME |
57 | private void addPositionChooserOptions() { |
58 | positionChooser.addDefault("Position 1", 1); | |
59 | positionChooser.addObject("Position 2", 2); | |
60 | positionChooser.addObject("Position 3", 3); | |
61 | positionChooser.addObject("Position 4", 4); | |
62 | positionChooser.addObject("Position 5", 5); | |
63 | } | |
64 | ||
2faa7f35 | 65 | private void addDefensesToAllDefenseSendableChooosers() { |
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66 | addDefenseOptions(positionOneDefense); |
67 | addDefenseOptions(positionTwoDefense); | |
68 | addDefenseOptions(positionThreeDefense); | |
69 | addDefenseOptions(positionFourDefense); | |
70 | addDefenseOptions(positionFiveDefense); | |
71 | } | |
72 | ||
73 | private void addDefenseOptions(SendableChooser chooser) { | |
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74 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
75 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
76 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
77 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
78 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
79 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
80 | chooser.addObject("Moat", Defense.MOAT); | |
81 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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82 | } |
83 | ||
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84 | private void sendSendableChoosersToSmartDashboard() { |
85 | SmartDashboard.putData("PositionChooser", positionChooser); | |
86 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
87 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
88 | SmartDashboard.putData("Position Three Defense Chooser", | |
89 | positionThreeDefense); | |
90 | SmartDashboard.putData("Position Four Defense Chooser", | |
91 | positionFourDefense); | |
92 | SmartDashboard.putData("Position Five Defense Chooser", | |
93 | positionFiveDefense); | |
94 | } | |
95 | ||
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96 | @Override |
97 | public void autonomousInit() { | |
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98 | Scheduler.getInstance().run(); |
99 | ||
100 | // get options chosen from drop down menu | |
101 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 102 | Integer chosenDefense = 0; |
3366a59a | 103 | |
33981335 ME |
104 | switch (chosenPosition) { |
105 | case 1: | |
3366a59a | 106 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 107 | case 2: |
3366a59a | 108 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 109 | case 3: |
3366a59a | 110 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 111 | case 4: |
3366a59a | 112 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 113 | case 5: |
3366a59a | 114 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 115 | } |
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116 | |
117 | System.out.println("Chosen Position: " + chosenPosition); | |
118 | System.out.println("Chosen Defense: " + chosenDefense); | |
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119 | } |
120 | ||
121 | @Override | |
122 | public void autonomousPeriodic() { | |
123 | Scheduler.getInstance().run(); | |
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124 | } |
125 | ||
126 | @Override | |
127 | public void teleopInit() { | |
128 | } | |
129 | ||
130 | @Override | |
131 | public void teleopPeriodic() { | |
132 | Scheduler.getInstance().run(); | |
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133 | |
134 | } | |
38a404b3 | 135 | } |