| 1 | |
| 2 | package org.usfirst.frc.team3501.robot; |
| 3 | |
| 4 | import edu.wpi.first.wpilibj.IterativeRobot; |
| 5 | import edu.wpi.first.wpilibj.command.Command; |
| 6 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 7 | import edu.wpi.first.wpilibj.livewindow.LiveWindow; |
| 8 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
| 9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; |
| 10 | |
| 11 | import org.usfirst.frc.team3501.robot.autons.*; |
| 12 | import org.usfirst.frc.team3501.robot.commands.*; |
| 13 | import org.usfirst.frc.team3501.robot.subsystems.*; |
| 14 | import org.usfirst.frc.team3501.util.AutonData; |
| 15 | |
| 16 | public class Robot extends IterativeRobot { |
| 17 | |
| 18 | public static Drivetrain drivetrain; |
| 19 | public static Arm arm; |
| 20 | public static Claw claw; |
| 21 | |
| 22 | public static Pneumatics pneumatics; |
| 23 | |
| 24 | public static OI oi; |
| 25 | |
| 26 | public static AutonData autonData; |
| 27 | |
| 28 | private SendableChooser autonChooser; |
| 29 | private Command autonomousCommand; |
| 30 | |
| 31 | public void robotInit() { |
| 32 | drivetrain = new Drivetrain(); |
| 33 | arm = new Arm(); |
| 34 | claw = new Claw(); |
| 35 | |
| 36 | pneumatics = new Pneumatics(); |
| 37 | |
| 38 | autonData = new AutonData(); |
| 39 | |
| 40 | oi = new OI(); |
| 41 | |
| 42 | chooseAuto(); |
| 43 | } |
| 44 | |
| 45 | public void disabledPeriodic() { |
| 46 | Scheduler.getInstance().run(); |
| 47 | } |
| 48 | |
| 49 | public void autonomousInit() { |
| 50 | schedule(new TurnOnCompressor()); |
| 51 | |
| 52 | autonData.update(); |
| 53 | |
| 54 | autonomousCommand = (Command) autonChooser.getSelected(); |
| 55 | autonomousCommand.start(); |
| 56 | } |
| 57 | |
| 58 | public void autonomousPeriodic() { |
| 59 | Scheduler.getInstance().run(); |
| 60 | } |
| 61 | |
| 62 | public void teleopInit() { |
| 63 | schedule(new TurnOnCompressor()); |
| 64 | |
| 65 | if (autonomousCommand != null) |
| 66 | autonomousCommand.cancel(); |
| 67 | } |
| 68 | |
| 69 | public void teleopPeriodic() { |
| 70 | Scheduler.getInstance().run(); |
| 71 | } |
| 72 | |
| 73 | public void testPeriodic() { |
| 74 | LiveWindow.run(); |
| 75 | } |
| 76 | |
| 77 | private void chooseAuto() { |
| 78 | autonChooser = new SendableChooser(); |
| 79 | |
| 80 | autonChooser.addDefault("Pick up container", new ContainerOverStep()); |
| 81 | autonChooser.addObject("Drive over step", new DriveOverStep()); |
| 82 | autonChooser.addObject("Drive past step", new DrivePastStep()); |
| 83 | |
| 84 | SmartDashboard.putData("Auto Mode", autonChooser); |
| 85 | } |
| 86 | |
| 87 | private void schedule(Command c) { |
| 88 | Scheduler.getInstance().add(c); |
| 89 | } |
| 90 | } |