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 >>>>>>> Remove useless variables and commented stuff in Robot.java
  34
  35   @Override
  36   public void robotInit() {
  37     driveTrain = new DriveTrain();
  38     oi = new OI();
  39     gyro = new GyroLib(I2C.Port.kOnboard, false);
  40 >>>>>>> Remove useless variables and commented stuff in Robot.java
  41
  42     shooter = new Shooter();
  43     scaler = new Scaler();
  44     defenseArm = new DefenseArm();
  45     intakeArm = new IntakeArm();
  46
  47     initializeSendableChoosers();
  48     addPositionChooserOptions();
  49     addDefensesToAllDefenseSendableChoosers();
  50     sendSendableChoosersToSmartDashboard();
  51
  52 =======
  53 >>>>>>> Remove useless variables and commented stuff in Robot.java
  54   }
  55
  56   private void initializeSendableChoosers() {
  57     positionChooser = new SendableChooser();
  58     positionOneDefense = new SendableChooser();
  59     positionTwoDefense = new SendableChooser();
  60     positionThreeDefense = new SendableChooser();
  61     positionFourDefense = new SendableChooser();
  62     positionFiveDefense = new SendableChooser();
  63   }
  64
  65   private void addPositionChooserOptions() {
  66     positionChooser.addDefault("Position 1", 1);
  67     positionChooser.addObject("Position 2", 2);
  68     positionChooser.addObject("Position 3", 3);
  69     positionChooser.addObject("Position 4", 4);
  70     positionChooser.addObject("Position 5", 5);
  71   }
  72
  73   private void addDefensesToAllDefenseSendableChoosers() {
  74     addDefenseOptions(positionOneDefense);
  75     addDefenseOptions(positionTwoDefense);
  76     addDefenseOptions(positionThreeDefense);
  77     addDefenseOptions(positionFourDefense);
  78     addDefenseOptions(positionFiveDefense);
  79   }
  80
  81   private void addDefenseOptions(SendableChooser chooser) {
  82     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  83     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  84     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  85     chooser.addObject("Low Bar", Defense.LOW_BAR);
  86     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  87     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  88     chooser.addObject("Moat", Defense.MOAT);
  89     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  90   }
  91
  92   private void sendSendableChoosersToSmartDashboard() {
  93     SmartDashboard.putData("PositionChooser", positionChooser);
  94     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  95     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  96     SmartDashboard.putData("Position Three Defense Chooser",
  97         positionThreeDefense);
  98     SmartDashboard.putData("Position Four Defense Chooser",
  99         positionFourDefense);
 100     SmartDashboard.putData("Position Five Defense Chooser",
 101         positionFiveDefense);
 102
 103     SmartDashboard.putData("Position Four Defense Chooser",
 104         positionFourDefense);
 105     SmartDashboard.putData("Position Five Defense Chooser",
 106         positionFiveDefense);
 107
 108     shooter = new Shooter();
 109
 110   }
 111
 112   @Override
 113   public void autonomousInit() {
 114     Scheduler.getInstance().run();
 115
 116     // get options chosen from drop down menu
 117     Integer chosenPosition = (Integer) positionChooser.getSelected();
 118     Integer chosenDefense = 0;
 119
 120     switch (chosenPosition) {
 121     case 1:
 122       chosenDefense = (Integer) positionOneDefense.getSelected();
 123     case 2:
 124       chosenDefense = (Integer) positionTwoDefense.getSelected();
 125     case 3:
 126       chosenDefense = (Integer) positionThreeDefense.getSelected();
 127     case 4:
 128       chosenDefense = (Integer) positionFourDefense.getSelected();
 129     case 5:
 130       chosenDefense = (Integer) positionFiveDefense.getSelected();
 131     }
 132
 133     System.out.println("Chosen Position: " + chosenPosition);
 134     System.out.println("Chosen Defense: " + chosenDefense);
 135   }
 136
 137   @Override
 138   public void autonomousPeriodic() {
 139     Scheduler.getInstance().run();
 140   }
 141
 142   @Override
 143   public void teleopInit() {
 144
 145     gyro.start();
 146
 147   }
 148
 149   @Override
 150   public void teleopPeriodic() {
 151     Scheduler.getInstance().run();
 152
 153     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 154
 155   }
 156
 157 }