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.AnotherGyroClass.Rotation;
   4 import org.usfirst.frc.team3501.robot.Constants.Defense;
   5 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   6 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   7 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   8 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   9 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  10
  11 import edu.wpi.first.wpilibj.I2C;
  12 import edu.wpi.first.wpilibj.IterativeRobot;
  13 import edu.wpi.first.wpilibj.command.Scheduler;
  14 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  15 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  16
  17 public class Robot extends IterativeRobot {
  18   public static OI oi;
  19   public static DriveTrain driveTrain;
  20   public static Shooter shooter;
  21
  22   public static Scaler scaler;
  23   double then;
  24   public static IntakeArm intakeArm;
  25   public static DefenseArm defenseArm;
  26
  27   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  28   SendableChooser positionChooser;
  29   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  30       positionFourDefense, positionFiveDefense;
  31
  32   // Gyro stuff
  33   private final static double NANOSECONDS_PER_SECOND = 1000000000;
  34   short rawValue;
  35   public GyroClass gyro;
  36
  37   double now;
  38   double degreesIncreased;
  39   double degrees;
  40
  41   Rotation rotation;
  42
  43   @Override
  44   public void robotInit() {
  45     // driveTrain = new DriveTrain();
  46     gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
  47     // oi = new OI();
  48
  49     shooter = new Shooter();
  50     scaler = new Scaler();
  51     defenseArm = new DefenseArm();
  52     intakeArm = new IntakeArm();
  53
  54     // Sendable Choosers allows the driver to select the position of the
  55     // robot
  56     // and the positions of the defenses from a drop-down menu on the Smart
  57     // Dashboard
  58     // make the Sendable Choosers
  59     // initializeSendableChoosers();
  60     // addPositionChooserOptions();
  61     // addDefensesToAllDefenseSendableChooosers();
  62     // sendSendableChoosersToSmartDashboard();
  63
  64   }
  65
  66   private void initializeSendableChoosers() {
  67     positionChooser = new SendableChooser();
  68     positionOneDefense = new SendableChooser();
  69     positionTwoDefense = new SendableChooser();
  70     positionThreeDefense = new SendableChooser();
  71     positionFourDefense = new SendableChooser();
  72     positionFiveDefense = new SendableChooser();
  73   }
  74
  75   private void addPositionChooserOptions() {
  76     positionChooser.addDefault("Position 1", 1);
  77     positionChooser.addObject("Position 2", 2);
  78     positionChooser.addObject("Position 3", 3);
  79     positionChooser.addObject("Position 4", 4);
  80     positionChooser.addObject("Position 5", 5);
  81   }
  82
  83   private void addDefensesToAllDefenseSendableChooosers() {
  84     addDefenseOptions(positionOneDefense);
  85     addDefenseOptions(positionTwoDefense);
  86     addDefenseOptions(positionThreeDefense);
  87     addDefenseOptions(positionFourDefense);
  88     addDefenseOptions(positionFiveDefense);
  89   }
  90
  91   private void addDefenseOptions(SendableChooser chooser) {
  92     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  93     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  94     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  95     chooser.addObject("Low Bar", Defense.LOW_BAR);
  96     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  97     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  98     chooser.addObject("Moat", Defense.MOAT);
  99     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
 100   }
 101
 102   private void sendSendableChoosersToSmartDashboard() {
 103     SmartDashboard.putData("PositionChooser", positionChooser);
 104     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 105     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 106     SmartDashboard.putData("Position Three Defense Chooser",
 107         positionThreeDefense);
 108     SmartDashboard.putData("Position Four Defense Chooser",
 109         positionFourDefense);
 110     SmartDashboard.putData("Position Five Defense Chooser",
 111         positionFiveDefense);
 112
 113     SmartDashboard.putData("Position Four Defense Chooser",
 114         positionFourDefense);
 115     SmartDashboard.putData("Position Five Defense Chooser",
 116         positionFiveDefense);
 117
 118     shooter = new Shooter();
 119
 120   }
 121
 122   @Override
 123   public void autonomousInit() {
 124     Scheduler.getInstance().run();
 125
 126     // get options chosen from drop down menu
 127     Integer chosenPosition = (Integer) positionChooser.getSelected();
 128     Integer chosenDefense = 0;
 129
 130     switch (chosenPosition) {
 131     case 1:
 132       chosenDefense = (Integer) positionOneDefense.getSelected();
 133     case 2:
 134       chosenDefense = (Integer) positionTwoDefense.getSelected();
 135     case 3:
 136       chosenDefense = (Integer) positionThreeDefense.getSelected();
 137     case 4:
 138       chosenDefense = (Integer) positionFourDefense.getSelected();
 139     case 5:
 140       chosenDefense = (Integer) positionFiveDefense.getSelected();
 141     }
 142
 143     System.out.println("Chosen Position: " + chosenPosition);
 144     System.out.println("Chosen Defense: " + chosenDefense);
 145   }
 146
 147   @Override
 148   public void autonomousPeriodic() {
 149     Scheduler.getInstance().run();
 150   }
 151
 152   @Override
 153   public void teleopInit() {
 154   }
 155
 156   @Override
 157   public void teleopPeriodic() {
 158     Scheduler.getInstance().run();
 159
 160   }
 161
 162   public double getZAxisDegreesPerSeconds() {
 163     double rawValue = gyro.getRotationZ() / 14.375;
 164     return rawValue;
 165   }
 166
 167   public void initializeGyro() {
 168     degrees = 0;
 169     then = System.nanoTime() / 1000000000.0;
 170     gyro.reset();
 171     gyro.initialize();
 172     System.out.println("Testing Gyro Init");
 173   }
 174
 175   public void addZAxisDegrees() {
 176     double degreesRead = getZAxisDegreesPerSeconds();
 177     now = System.nanoTime();
 178     now = now / (1000000000.0);
 179     double differenceInTime = now - then;
 180     then = now;
 181     degreesIncreased = differenceInTime * degreesRead;
 182
 183     // 0.0 = register
 184     // + 1.0 is the formula constant
 185     //
 186     degrees += degreesIncreased;
 187
 188   }
 189
 190   public double getDegrees() {
 191     return degrees;
 192   }
 193
 194 }