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 java.io.DataInputStream;
   4 import java.io.DataOutputStream;
   5 import java.io.IOException;
   6 import java.net.Socket;
   7
   8 import org.usfirst.frc.team3501.robot.Constants.Defense;
   9 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
  10 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
  11 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
  12 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
  13 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  14
  15 import edu.wpi.first.wpilibj.IterativeRobot;
  16 import edu.wpi.first.wpilibj.command.Scheduler;
  17 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  18 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  19
  20 public class Robot extends IterativeRobot {
  21   public static OI oi;
  22   public static DriveTrain driveTrain;
  23   public static Shooter shooter;
  24
  25   public static Scaler scaler;
  26
  27   public static IntakeArm intakeArm;
  28   public static DefenseArm defenseArm;
  29
  30   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  31   SendableChooser positionChooser;
  32   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  33       positionFourDefense, positionFiveDefense;
  34
  35   Socket beagleBone;
  36   Socket roboRIO;
  37   DataInputStream beagleBoneInput;
  38   DataOutputStream beagleBoneOutput;
  39   DataInputStream roboRIOInput;
  40   DataOutputStream roboRIOOutput;
  41
  42   @Override
  43   public void robotInit() {
  44     try {
  45       beagleBone = new Socket("10.35.1.20", 1024);
  46       roboRIO = new Socket("10.35.1.22", 1024);
  47       // // create input stream for beagle bone to receive response from roboRIO
  48       // beagleBoneInput = new DataInputStream(beagleBone.getInputStream());
  49       // // create output stream to send information to the server socket
  50       // beagleBoneOutput = new DataOutputStream(beagleBone.getOutputStream());
  51       // // create input stream for beagle bone to receive response from roboRIO
  52       // roboRIOInput = new DataInputStream(roboRIO.getInputStream());
  53       // // create output stream to send information to the server socket
  54       // roboRIOOutput = new DataOutputStream(roboRIO.getOutputStream());
  55
  56     } catch (IOException e) {
  57       System.out.println(e);
  58     }
  59
  60     try {
  61       beagleBoneOutput.writeBytes("hello!");
  62     } catch (IOException e) {
  63       System.out.println(e);
  64     }
  65
  66     // driveTrain = new DriveTrain();
  67     // oi = new OI();
  68     //
  69     // shooter = new Shooter();
  70     // scaler = new Scaler();
  71     // intakeArm = new IntakeArm();
  72     //
  73     // initializeSendableChoosers();
  74     // addPositionChooserOptions();
  75     // addDefensesToAllDefenseSendableChoosers();
  76     // sendSendableChoosersToSmartDashboard();
  77
  78   }
  79
  80   private void initializeSendableChoosers() {
  81     positionChooser = new SendableChooser();
  82     positionOneDefense = new SendableChooser();
  83     positionTwoDefense = new SendableChooser();
  84     positionThreeDefense = new SendableChooser();
  85     positionFourDefense = new SendableChooser();
  86     positionFiveDefense = new SendableChooser();
  87   }
  88
  89   private void addPositionChooserOptions() {
  90     positionChooser.addDefault("Position 1", 1);
  91     positionChooser.addObject("Position 2", 2);
  92     positionChooser.addObject("Position 3", 3);
  93     positionChooser.addObject("Position 4", 4);
  94     positionChooser.addObject("Position 5", 5);
  95   }
  96
  97   private void addDefensesToAllDefenseSendableChoosers() {
  98     addDefenseOptions(positionOneDefense);
  99     addDefenseOptions(positionTwoDefense);
 100     addDefenseOptions(positionThreeDefense);
 101     addDefenseOptions(positionFourDefense);
 102     addDefenseOptions(positionFiveDefense);
 103   }
 104
 105   private void addDefenseOptions(SendableChooser chooser) {
 106     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
 107     chooser.addObject("Sally Port", Defense.SALLY_PORT);
 108     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
 109     chooser.addObject("Low Bar", Defense.LOW_BAR);
 110     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
 111     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
 112     chooser.addObject("Moat", Defense.MOAT);
 113     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
 114   }
 115
 116   private void sendSendableChoosersToSmartDashboard() {
 117     SmartDashboard.putData("PositionChooser", positionChooser);
 118     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 119     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 120     SmartDashboard.putData("Position Three Defense Chooser",
 121         positionThreeDefense);
 122     SmartDashboard.putData("Position Four Defense Chooser",
 123         positionFourDefense);
 124     SmartDashboard.putData("Position Five Defense Chooser",
 125         positionFiveDefense);
 126
 127     SmartDashboard.putData("Position Four Defense Chooser",
 128         positionFourDefense);
 129     SmartDashboard.putData("Position Five Defense Chooser",
 130         positionFiveDefense);
 131
 132     shooter = new Shooter();
 133
 134   }
 135
 136   @Override
 137   public void autonomousInit() {
 138     Scheduler.getInstance().run();
 139
 140     // // get options chosen from drop down menu
 141     // Integer chosenPosition = (Integer) positionChooser.getSelected();
 142     // Integer chosenDefense = 0;
 143     //
 144     // if (chosenPosition == 1)
 145     // chosenDefense = (Integer) positionOneDefense.getSelected();
 146     // else if (chosenPosition == 2)
 147     // chosenDefense = (Integer) positionTwoDefense.getSelected();
 148     // else if (chosenPosition == 3)
 149     // chosenDefense = (Integer) positionThreeDefense.getSelected();
 150     // else if (chosenPosition == 4)
 151     // chosenDefense = (Integer) positionFourDefense.getSelected();
 152     // else if (chosenPosition == 5)
 153     // chosenDefense = (Integer) positionFiveDefense.getSelected();
 154     //
 155     // System.out.println("Chosen Position: " + chosenPosition);
 156     // System.out.println("Chosen Defense: " + chosenDefense);
 157   }
 158
 159   @Override
 160   public void autonomousPeriodic() {
 161     Scheduler.getInstance().run();
 162   }
 163
 164   @Override
 165   public void teleopInit() {
 166   }
 167
 168   @Override
 169   public void teleopPeriodic() {
 170     Scheduler.getInstance().run();
 171   }
 172
 173 }