Use GyroClass and currently using method getDegrees in teleopPeriodic

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;

  public static Scaler scaler;
  double then;
  public static IntakeArm intakeArm;
  public static DefenseArm defenseArm;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  SendableChooser positionChooser;
  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
      positionFourDefense, positionFiveDefense;

  // Gyro stuff
  private final static double NANOSECONDS_PER_SECOND = 1000000000;
  short rawValue;
  public GyroClass gyro;

  double now;
  double degreesIncreased;
  double degrees;

  Rotation rotation;

  @Override
  public void robotInit() {
    // driveTrain = new DriveTrain();
    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
    // oi = new OI();

    shooter = new Shooter();
    scaler = new Scaler();
    defenseArm = new DefenseArm();
    intakeArm = new IntakeArm();

    // Sendable Choosers allows the driver to select the position of the
    // robot
    // and the positions of the defenses from a drop-down menu on the Smart
    // Dashboard
    // make the Sendable Choosers
    // initializeSendableChoosers();
    // addPositionChooserOptions();
    // addDefensesToAllDefenseSendableChooosers();
    // sendSendableChoosersToSmartDashboard();

  }

  private void initializeSendableChoosers() {
    positionChooser = new SendableChooser();
    positionOneDefense = new SendableChooser();
    positionTwoDefense = new SendableChooser();
    positionThreeDefense = new SendableChooser();
    positionFourDefense = new SendableChooser();
    positionFiveDefense = new SendableChooser();
  }

  private void addPositionChooserOptions() {
    positionChooser.addDefault("Position 1", 1);
    positionChooser.addObject("Position 2", 2);
    positionChooser.addObject("Position 3", 3);
    positionChooser.addObject("Position 4", 4);
    positionChooser.addObject("Position 5", 5);
  }

  private void addDefensesToAllDefenseSendableChooosers() {
    addDefenseOptions(positionOneDefense);
    addDefenseOptions(positionTwoDefense);
    addDefenseOptions(positionThreeDefense);
    addDefenseOptions(positionFourDefense);
    addDefenseOptions(positionFiveDefense);
  }

  private void addDefenseOptions(SendableChooser chooser) {
    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
    chooser.addObject("Sally Port", Defense.SALLY_PORT);
    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
    chooser.addObject("Low Bar", Defense.LOW_BAR);
    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
    chooser.addObject("Moat", Defense.MOAT);
    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  }

  private void sendSendableChoosersToSmartDashboard() {
    SmartDashboard.putData("PositionChooser", positionChooser);
    SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
    SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
    SmartDashboard.putData("Position Three Defense Chooser",
        positionThreeDefense);
    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);

    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);

    shooter = new Shooter();

  }

  @Override
  public void autonomousInit() {
    Scheduler.getInstance().run();

    // get options chosen from drop down menu
    Integer chosenPosition = (Integer) positionChooser.getSelected();
    Integer chosenDefense = 0;

    switch (chosenPosition) {
    case 1:
      chosenDefense = (Integer) positionOneDefense.getSelected();
    case 2:
      chosenDefense = (Integer) positionTwoDefense.getSelected();
    case 3:
      chosenDefense = (Integer) positionThreeDefense.getSelected();
    case 4:
      chosenDefense = (Integer) positionFourDefense.getSelected();
    case 5:
      chosenDefense = (Integer) positionFiveDefense.getSelected();
    }

    System.out.println("Chosen Position: " + chosenPosition);
    System.out.println("Chosen Defense: " + chosenDefense);
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();
  }

  @Override
  public void teleopInit() {
  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();

  }

  public double getZAxisDegreesPerSeconds() {
    double rawValue = gyro.getRotationZ() / 14.375;
    return rawValue;
  }

  public void initializeGyro() {
    degrees = 0;
    then = System.nanoTime() / 1000000000.0;
    gyro.reset();
    gyro.initialize();
    System.out.println("Testing Gyro Init");
  }

  public void addZAxisDegrees() {
    double degreesRead = getZAxisDegreesPerSeconds();
    now = System.nanoTime();
    now = now / (1000000000.0);
    double differenceInTime = now - then;
    then = now;
    degreesIncreased = differenceInTime * degreesRead;

    // 0.0 = register
    // + 1.0 is the formula constant
    //
    degrees += degreesIncreased;

  }

  public double getDegrees() {
    return degrees;
  }

}