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.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  13 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19   public static Scaler scaler;
  20   public static DefenseArm defenseArm;
  21   public static IntakeArm intakeArm;
  22   public static DefenseArm defenseArm;
  23
  24   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  25   SendableChooser positionChooser;
  26   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  27       positionFourDefense, positionFiveDefense;
  28
  29   @Override
  30   public void robotInit() {
  31     driveTrain = new DriveTrain();
  32     oi = new OI();
  33
  34     shooter = new Shooter();
  35     scaler = new Scaler();
  36     defenseArm = new DefenseArm();
  37         intakeArm = new IntakeArm();
  38
  39     // Sendable Choosers allows the driver to select the position of the robot
  40     // and the positions of the defenses from a drop-down menu on the Smart
  41     // Dashboard
  42     // make the Sendable Choosers
  43     initializeSendableChoosers();
  44     addPositionChooserOptions();
  45     addDefensesToAllDefenseSendableChooosers();
  46     sendSendableChoosersToSmartDashboard();
  47
  48   }
  49
  50   private void initializeSendableChoosers() {
  51     positionChooser = new SendableChooser();
  52     positionOneDefense = new SendableChooser();
  53     positionTwoDefense = new SendableChooser();
  54     positionThreeDefense = new SendableChooser();
  55     positionFourDefense = new SendableChooser();
  56     positionFiveDefense = new SendableChooser();
  57   }
  58
  59   private void addPositionChooserOptions() {
  60     positionChooser.addDefault("Position 1", 1);
  61     positionChooser.addObject("Position 2", 2);
  62     positionChooser.addObject("Position 3", 3);
  63     positionChooser.addObject("Position 4", 4);
  64     positionChooser.addObject("Position 5", 5);
  65   }
  66
  67   private void addDefensesToAllDefenseSendableChooosers() {
  68     addDefenseOptions(positionOneDefense);
  69     addDefenseOptions(positionTwoDefense);
  70     addDefenseOptions(positionThreeDefense);
  71     addDefenseOptions(positionFourDefense);
  72     addDefenseOptions(positionFiveDefense);
  73   }
  74
  75   private void addDefenseOptions(SendableChooser chooser) {
  76     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  77     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  78     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  79     chooser.addObject("Low Bar", Defense.LOW_BAR);
  80     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  81     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  82     chooser.addObject("Moat", Defense.MOAT);
  83     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  84   }
  85
  86   private void sendSendableChoosersToSmartDashboard() {
  87     SmartDashboard.putData("PositionChooser", positionChooser);
  88     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  89     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  90     SmartDashboard.putData("Position Three Defense Chooser",
  91         positionThreeDefense);
  92     SmartDashboard.putData("Position Four Defense Chooser",
  93         positionFourDefense);
  94     SmartDashboard.putData("Position Five Defense Chooser",
  95         positionFiveDefense);
  96 <<<<<<< HEAD
  97 =======
  98     SmartDashboard.putData("Position Four Defense Chooser",
  99         positionFourDefense);
 100     SmartDashboard.putData("Position Five Defense Chooser",
 101         positionFiveDefense);
 102
 103     shooter = new Shooter();
 104 >>>>>>> Initialize AnalogGyro in Robot class
 105   }
 106
 107   private void addDefense(SendableChooser chooser) {
 108     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
 109     chooser.addObject("Sally Port", Defense.SALLY_PORT);
 110     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
 111     chooser.addObject("Low Bar", Defense.LOW_BAR);
 112     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
 113     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
 114     chooser.addObject("Moat", Defense.MOAT);
 115     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
 116
 117     shooter = new Shooter();
 118
 119   }
 120
 121   @Override
 122   public void autonomousInit() {
 123     Scheduler.getInstance().run();
 124
 125     // get options chosen from drop down menu
 126     Integer chosenPosition = (Integer) positionChooser.getSelected();
 127     Integer chosenDefense = 0;
 128
 129     switch (chosenPosition) {
 130     case 1:
 131       chosenDefense = (Integer) positionOneDefense.getSelected();
 132     case 2:
 133       chosenDefense = (Integer) positionTwoDefense.getSelected();
 134     case 3:
 135       chosenDefense = (Integer) positionThreeDefense.getSelected();
 136     case 4:
 137       chosenDefense = (Integer) positionFourDefense.getSelected();
 138     case 5:
 139       chosenDefense = (Integer) positionFiveDefense.getSelected();
 140     }
 141
 142     System.out.println("Chosen Position: " + chosenPosition);
 143     System.out.println("Chosen Defense: " + chosenDefense);
 144   }
 145
 146   @Override
 147   public void autonomousPeriodic() {
 148     Scheduler.getInstance().run();
 149   }
 150
 151   @Override
 152   public void teleopInit() {
 153   }
 154
 155   @Override
 156   public void teleopPeriodic() {
 157     Scheduler.getInstance().run();
 158
 159   }
 160 }