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