challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Defense;
   4 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   5 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   6 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   8 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   9
  10 import edu.wpi.first.wpilibj.I2C;
  11 import edu.wpi.first.wpilibj.IterativeRobot;
  12 import edu.wpi.first.wpilibj.command.Scheduler;
  13 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  14 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  15
  16 public class Robot extends IterativeRobot {
  17   public static OI oi;
  18   public static DriveTrain driveTrain;
  19   public static Shooter shooter;
  20
  21   public static Scaler scaler;
  22
  23   public static IntakeArm intakeArm;
  24   public static DefenseArm defenseArm;
  25
  26   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  27   SendableChooser positionChooser;
  28   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  29   positionFourDefense, positionFiveDefense;
  30
  31   // Gyro stuff
  32   public GyroLib gyro;
  33
  34   @Override
  35   public void robotInit() {
  36     driveTrain = new DriveTrain();
  37     oi = new OI();
  38     gyro = new GyroLib(I2C.Port.kOnboard, false);
  39
  40     shooter = new Shooter();
  41     scaler = new Scaler();
  42     defenseArm = new DefenseArm();
  43     intakeArm = new IntakeArm();
  44
  45     initializeSendableChoosers();
  46     addPositionChooserOptions();
  47     addDefensesToAllDefenseSendableChoosers();
  48     sendSendableChoosersToSmartDashboard();
  49
  50   }
  51
  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
  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
  69   private void addDefensesToAllDefenseSendableChoosers() {
  70     addDefenseOptions(positionOneDefense);
  71     addDefenseOptions(positionTwoDefense);
  72     addDefenseOptions(positionThreeDefense);
  73     addDefenseOptions(positionFourDefense);
  74     addDefenseOptions(positionFiveDefense);
  75   }
  76
  77   private void addDefenseOptions(SendableChooser chooser) {
  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);
  86   }
  87
  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);
  98
  99     SmartDashboard.putData("Position Four Defense Chooser",
 100         positionFourDefense);
 101     SmartDashboard.putData("Position Five Defense Chooser",
 102         positionFiveDefense);
 103
 104     shooter = new Shooter();
 105
 106   }
 107
 108   @Override
 109   public void autonomousInit() {
 110     Scheduler.getInstance().run();
 111
 112     // get options chosen from drop down menu
 113     Integer chosenPosition = (Integer) positionChooser.getSelected();
 114     Integer chosenDefense = 0;
 115
 116     switch (chosenPosition) {
 117     case 1:
 118       chosenDefense = (Integer) positionOneDefense.getSelected();
 119     case 2:
 120       chosenDefense = (Integer) positionTwoDefense.getSelected();
 121     case 3:
 122       chosenDefense = (Integer) positionThreeDefense.getSelected();
 123     case 4:
 124       chosenDefense = (Integer) positionFourDefense.getSelected();
 125     case 5:
 126       chosenDefense = (Integer) positionFiveDefense.getSelected();
 127     }
 128
 129     System.out.println("Chosen Position: " + chosenPosition);
 130     System.out.println("Chosen Defense: " + chosenDefense);
 131   }
 132
 133   @Override
 134   public void autonomousPeriodic() {
 135     Scheduler.getInstance().run();
 136   }
 137
 138   @Override
 139   public void teleopInit() {
 140
 141     gyro.start();
 142
 143   }
 144
 145   @Override
 146   public void teleopPeriodic() {
 147     Scheduler.getInstance().run();
 148
 149     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 150
 151   }
 152
 153 }