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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; |
40348cab E |
8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
2680d6fc | 10 | import edu.wpi.first.wpilibj.I2C; |
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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; |
fbab1d06 | 20 | |
02cb494e | 21 | public static Scaler scaler; |
8a0a9571 | 22 | public static DefenseArm defenseArm; |
f81370d3 | 23 | public static IntakeArm intakeArm; |
38a404b3 | 24 | |
88e66b4e | 25 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 26 | SendableChooser positionChooser; |
6947c8a4 | 27 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
2680d6fc E |
28 | positionFourDefense, positionFiveDefense; |
29 | ||
30 | // Gyro stuff | |
31 | private final static double NANOSECONDS_PER_SECOND = 1000000000; | |
32 | short rawValue; | |
9c83d56e | 33 | public GyroClass gyro; |
2680d6fc | 34 | |
213e82b1 | 35 | double degreesIncreased; |
2680d6fc | 36 | double degrees; |
3366a59a | 37 | |
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38 | @Override |
39 | public void robotInit() { | |
2680d6fc | 40 | // driveTrain = new DriveTrain(); |
9c83d56e | 41 | gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68); |
2680d6fc | 42 | // oi = new OI(); |
5d5bc4ed | 43 | |
40348cab | 44 | shooter = new Shooter(); |
02cb494e | 45 | scaler = new Scaler(); |
8a0a9571 | 46 | defenseArm = new DefenseArm(); |
2680d6fc | 47 | intakeArm = new IntakeArm(); |
3366a59a | 48 | |
88e66b4e ME |
49 | // Sendable Choosers allows the driver to select the position of the robot |
50 | // and the positions of the defenses from a drop-down menu on the Smart | |
51 | // Dashboard | |
29d59f48 | 52 | // make the Sendable Choosers |
213e82b1 E |
53 | // initializeSendableChoosers(); |
54 | // addPositionChooserOptions(); | |
55 | // addDefensesToAllDefenseSendableChooosers(); | |
56 | // sendSendableChoosersToSmartDashboard(); | |
29d59f48 | 57 | |
3366a59a ME |
58 | } |
59 | ||
6947c8a4 ME |
60 | private void initializeSendableChoosers() { |
61 | positionChooser = new SendableChooser(); | |
62 | positionOneDefense = new SendableChooser(); | |
63 | positionTwoDefense = new SendableChooser(); | |
64 | positionThreeDefense = new SendableChooser(); | |
65 | positionFourDefense = new SendableChooser(); | |
66 | positionFiveDefense = new SendableChooser(); | |
67 | } | |
68 | ||
29d59f48 ME |
69 | private void addPositionChooserOptions() { |
70 | positionChooser.addDefault("Position 1", 1); | |
71 | positionChooser.addObject("Position 2", 2); | |
72 | positionChooser.addObject("Position 3", 3); | |
73 | positionChooser.addObject("Position 4", 4); | |
74 | positionChooser.addObject("Position 5", 5); | |
75 | } | |
76 | ||
77 | private void addDefensesToAllDefenseSendableChooosers() { | |
78 | addDefenseOptions(positionOneDefense); | |
79 | addDefenseOptions(positionTwoDefense); | |
80 | addDefenseOptions(positionThreeDefense); | |
81 | addDefenseOptions(positionFourDefense); | |
82 | addDefenseOptions(positionFiveDefense); | |
83 | } | |
84 | ||
85 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
86 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
87 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
88 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
89 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
90 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
91 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
92 | chooser.addObject("Moat", Defense.MOAT); | |
93 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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94 | } |
95 | ||
29d59f48 ME |
96 | private void sendSendableChoosersToSmartDashboard() { |
97 | SmartDashboard.putData("PositionChooser", positionChooser); | |
98 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
99 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
100 | SmartDashboard.putData("Position Three Defense Chooser", | |
101 | positionThreeDefense); | |
102 | SmartDashboard.putData("Position Four Defense Chooser", | |
103 | positionFourDefense); | |
104 | SmartDashboard.putData("Position Five Defense Chooser", | |
105 | positionFiveDefense); | |
213e82b1 | 106 | |
6740fa40 E |
107 | SmartDashboard.putData("Position Four Defense Chooser", |
108 | positionFourDefense); | |
109 | SmartDashboard.putData("Position Five Defense Chooser", | |
110 | positionFiveDefense); | |
111 | ||
112 | shooter = new Shooter(); | |
213e82b1 | 113 | |
29d59f48 ME |
114 | } |
115 | ||
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116 | @Override |
117 | public void autonomousInit() { | |
3366a59a ME |
118 | Scheduler.getInstance().run(); |
119 | ||
120 | // get options chosen from drop down menu | |
121 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 122 | Integer chosenDefense = 0; |
3366a59a | 123 | |
33981335 ME |
124 | switch (chosenPosition) { |
125 | case 1: | |
3366a59a | 126 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 127 | case 2: |
3366a59a | 128 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 129 | case 3: |
3366a59a | 130 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 131 | case 4: |
3366a59a | 132 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 133 | case 5: |
3366a59a | 134 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 135 | } |
3366a59a ME |
136 | |
137 | System.out.println("Chosen Position: " + chosenPosition); | |
138 | System.out.println("Chosen Defense: " + chosenDefense); | |
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139 | } |
140 | ||
141 | @Override | |
142 | public void autonomousPeriodic() { | |
143 | Scheduler.getInstance().run(); | |
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144 | } |
145 | ||
146 | @Override | |
147 | public void teleopInit() { | |
148 | } | |
149 | ||
150 | @Override | |
151 | public void teleopPeriodic() { | |
152 | Scheduler.getInstance().run(); | |
38a404b3 | 153 | } |
213e82b1 | 154 | |
38a404b3 | 155 | } |