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
  20   public static Scaler scaler;
  21   public static DefenseArm defenseArm;
  22   public static IntakeArm intakeArm;
  23   public static DefenseArm defenseArm;
  24
  25   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  26   SendableChooser positionChooser;
  27   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  28       positionFourDefense, positionFiveDefense;
  29
  30   @Override
  31   public void robotInit() {
  32     driveTrain = new DriveTrain();
  33     oi = new OI();
  34
  35     shooter = new Shooter();
  36     scaler = new Scaler();
  37     defenseArm = new DefenseArm();
  38         intakeArm = new IntakeArm();
  39
  40     // Sendable Choosers allows the driver to select the position of the robot
  41     // and the positions of the defenses from a drop-down menu on the Smart
  42     // Dashboard
  43     // make the Sendable Choosers
  44     initializeSendableChoosers();
  45     addPositionChooserOptions();
  46     addDefensesToAllDefenseSendableChooosers();
  47     sendSendableChoosersToSmartDashboard();
  48
  49   }
  50
  51   private void initializeSendableChoosers() {
  52     positionChooser = new SendableChooser();
  53     positionOneDefense = new SendableChooser();
  54     positionTwoDefense = new SendableChooser();
  55     positionThreeDefense = new SendableChooser();
  56     positionFourDefense = new SendableChooser();
  57     positionFiveDefense = new SendableChooser();
  58   }
  59
  60   private void addPositionChooserOptions() {
  61     positionChooser.addDefault("Position 1", 1);
  62     positionChooser.addObject("Position 2", 2);
  63     positionChooser.addObject("Position 3", 3);
  64     positionChooser.addObject("Position 4", 4);
  65     positionChooser.addObject("Position 5", 5);
  66   }
  67
  68   private void addDefensesToAllDefenseSendableChooosers() {
  69     addDefenseOptions(positionOneDefense);
  70     addDefenseOptions(positionTwoDefense);
  71     addDefenseOptions(positionThreeDefense);
  72     addDefenseOptions(positionFourDefense);
  73     addDefenseOptions(positionFiveDefense);
  74   }
  75
  76   private void addDefenseOptions(SendableChooser chooser) {
  77     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  78     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  79     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  80     chooser.addObject("Low Bar", Defense.LOW_BAR);
  81     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  82     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  83     chooser.addObject("Moat", Defense.MOAT);
  84     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  85   }
  86
  87   private void sendSendableChoosersToSmartDashboard() {
  88     SmartDashboard.putData("PositionChooser", positionChooser);
  89     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  90     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  91     SmartDashboard.putData("Position Three Defense Chooser",
  92         positionThreeDefense);
  93     SmartDashboard.putData("Position Four Defense Chooser",
  94         positionFourDefense);
  95     SmartDashboard.putData("Position Five Defense Chooser",
  96         positionFiveDefense);
  97 <<<<<<< HEAD
  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 >>>>>>> Initialize AnalogGyro in Robot class
 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
 142   @Override
 143   public void teleopPeriodic() {
 144     Scheduler.getInstance().run();
 145   }
 146 }