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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; |
5997d0fa | 22 | |
f81370d3 | 23 | public static IntakeArm intakeArm; |
bd5a85e3 | 24 | public static DefenseArm defenseArm; |
38a404b3 | 25 | |
88e66b4e | 26 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 27 | SendableChooser positionChooser; |
6947c8a4 | 28 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
c8ec852e | 29 | positionFourDefense, positionFiveDefense; |
2680d6fc E |
30 | |
31 | // Gyro stuff | |
cbd64f34 | 32 | public GyroLib gyro; |
2680d6fc | 33 | |
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34 | @Override |
35 | public void robotInit() { | |
c8ec852e KZ |
36 | driveTrain = new DriveTrain(); |
37 | oi = new OI(); | |
cbd64f34 | 38 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
5d5bc4ed | 39 | |
40348cab | 40 | shooter = new Shooter(); |
02cb494e | 41 | scaler = new Scaler(); |
8a0a9571 | 42 | defenseArm = new DefenseArm(); |
2680d6fc | 43 | intakeArm = new IntakeArm(); |
3366a59a | 44 | |
c8ec852e KZ |
45 | initializeSendableChoosers(); |
46 | addPositionChooserOptions(); | |
47 | addDefensesToAllDefenseSendableChoosers(); | |
48 | sendSendableChoosersToSmartDashboard(); | |
49 | ||
3366a59a ME |
50 | } |
51 | ||
6947c8a4 ME |
52 | private void initializeSendableChoosers() { |
53 | positionChooser = new SendableChooser(); | |
54 | positionOneDefense = new SendableChooser(); | |
55 | positionTwoDefense = new SendableChooser(); | |
56 | positionThreeDefense = new SendableChooser(); | |
57 | positionFourDefense = new SendableChooser(); | |
58 | positionFiveDefense = new SendableChooser(); | |
59 | } | |
60 | ||
29d59f48 ME |
61 | private void addPositionChooserOptions() { |
62 | positionChooser.addDefault("Position 1", 1); | |
63 | positionChooser.addObject("Position 2", 2); | |
64 | positionChooser.addObject("Position 3", 3); | |
65 | positionChooser.addObject("Position 4", 4); | |
66 | positionChooser.addObject("Position 5", 5); | |
67 | } | |
68 | ||
c8ec852e | 69 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
70 | addDefenseOptions(positionOneDefense); |
71 | addDefenseOptions(positionTwoDefense); | |
72 | addDefenseOptions(positionThreeDefense); | |
73 | addDefenseOptions(positionFourDefense); | |
74 | addDefenseOptions(positionFiveDefense); | |
75 | } | |
76 | ||
77 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
78 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
79 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
80 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
81 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
82 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
83 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
84 | chooser.addObject("Moat", Defense.MOAT); | |
85 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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86 | } |
87 | ||
29d59f48 ME |
88 | private void sendSendableChoosersToSmartDashboard() { |
89 | SmartDashboard.putData("PositionChooser", positionChooser); | |
90 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
91 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
92 | SmartDashboard.putData("Position Three Defense Chooser", | |
93 | positionThreeDefense); | |
94 | SmartDashboard.putData("Position Four Defense Chooser", | |
95 | positionFourDefense); | |
96 | SmartDashboard.putData("Position Five Defense Chooser", | |
97 | positionFiveDefense); | |
213e82b1 | 98 | |
6740fa40 E |
99 | SmartDashboard.putData("Position Four Defense Chooser", |
100 | positionFourDefense); | |
101 | SmartDashboard.putData("Position Five Defense Chooser", | |
102 | positionFiveDefense); | |
103 | ||
104 | shooter = new Shooter(); | |
213e82b1 | 105 | |
29d59f48 ME |
106 | } |
107 | ||
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108 | @Override |
109 | public void autonomousInit() { | |
3366a59a ME |
110 | Scheduler.getInstance().run(); |
111 | ||
112 | // get options chosen from drop down menu | |
113 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 114 | Integer chosenDefense = 0; |
3366a59a | 115 | |
33981335 ME |
116 | switch (chosenPosition) { |
117 | case 1: | |
3366a59a | 118 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 119 | case 2: |
3366a59a | 120 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 121 | case 3: |
3366a59a | 122 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 123 | case 4: |
3366a59a | 124 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 125 | case 5: |
3366a59a | 126 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 127 | } |
3366a59a ME |
128 | |
129 | System.out.println("Chosen Position: " + chosenPosition); | |
130 | System.out.println("Chosen Defense: " + chosenDefense); | |
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131 | } |
132 | ||
133 | @Override | |
134 | public void autonomousPeriodic() { | |
135 | Scheduler.getInstance().run(); | |
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136 | } |
137 | ||
138 | @Override | |
139 | public void teleopInit() { | |
cbd64f34 E |
140 | |
141 | gyro.start(); | |
142 | ||
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143 | } |
144 | ||
145 | @Override | |
146 | public void teleopPeriodic() { | |
147 | Scheduler.getInstance().run(); | |
bd5a85e3 | 148 | |
cbd64f34 E |
149 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
150 | ||
bd5a85e3 E |
151 | } |
152 | ||
38a404b3 | 153 | } |