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.GyroLib.Rotation;
   6 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   8 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   9 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
  10 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  11
  12 import edu.wpi.first.wpilibj.I2C;
  13 import edu.wpi.first.wpilibj.IterativeRobot;
  14 import edu.wpi.first.wpilibj.command.Scheduler;
  15 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  16 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  17
  18 public class Robot extends IterativeRobot {
  19   public static OI oi;
  20   public static DriveTrain driveTrain;
  21   public static Shooter shooter;
  22
  23   public static Scaler scaler;
  24
  25   public static IntakeArm intakeArm;
  26   public static DefenseArm defenseArm;
  27
  28   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  29   SendableChooser positionChooser;
  30   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  31       positionFourDefense, positionFiveDefense;
  32
  33   // Gyro stuff
  34   public GyroLib gyro;
  35
  36   @Override
  37   public void robotInit() {
  38     driveTrain = new DriveTrain();
  39     oi = new OI();
  40     gyro = new GyroLib(I2C.Port.kOnboard, false);
  41
  42     shooter = new Shooter();
  43     scaler = new Scaler();
  44     intakeArm = new IntakeArm();
  45
  46     initializeSendableChoosers();
  47     addPositionChooserOptions();
  48     addDefensesToAllDefenseSendableChoosers();
  49     sendSendableChoosersToSmartDashboard();
  50
  51   }
  52
  53   private void initializeSendableChoosers() {
  54     positionChooser = new SendableChooser();
  55     positionOneDefense = new SendableChooser();
  56     positionTwoDefense = new SendableChooser();
  57     positionThreeDefense = new SendableChooser();
  58     positionFourDefense = new SendableChooser();
  59     positionFiveDefense = new SendableChooser();
  60   }
  61
  62   private void addPositionChooserOptions() {
  63     positionChooser.addDefault("Position 1", 1);
  64     positionChooser.addObject("Position 2", 2);
  65     positionChooser.addObject("Position 3", 3);
  66     positionChooser.addObject("Position 4", 4);
  67     positionChooser.addObject("Position 5", 5);
  68   }
  69
  70   private void addDefensesToAllDefenseSendableChoosers() {
  71     addDefenseOptions(positionOneDefense);
  72     addDefenseOptions(positionTwoDefense);
  73     addDefenseOptions(positionThreeDefense);
  74     addDefenseOptions(positionFourDefense);
  75     addDefenseOptions(positionFiveDefense);
  76   }
  77
  78   private void addDefenseOptions(SendableChooser chooser) {
  79     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  80     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  81     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  82     chooser.addObject("Low Bar", Defense.LOW_BAR);
  83     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  84     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  85     chooser.addObject("Moat", Defense.MOAT);
  86     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  87   }
  88
  89   private void sendSendableChoosersToSmartDashboard() {
  90     SmartDashboard.putData("PositionChooser", positionChooser);
  91     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  92     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  93     SmartDashboard.putData("Position Three Defense Chooser",
  94         positionThreeDefense);
  95     SmartDashboard.putData("Position Four Defense Chooser",
  96         positionFourDefense);
  97     SmartDashboard.putData("Position Five Defense Chooser",
  98         positionFiveDefense);
  99
 100     SmartDashboard.putData("Position Four Defense Chooser",
 101         positionFourDefense);
 102     SmartDashboard.putData("Position Five Defense Chooser",
 103         positionFiveDefense);
 104
 105     shooter = new Shooter();
 106
 107   }
 108
 109   @Override
 110   public void autonomousInit() {
 111     Scheduler.getInstance().run();
 112
 113     // get options chosen from drop down menu
 114     Integer chosenPosition = (Integer) positionChooser.getSelected();
 115     Integer chosenDefense = 0;
 116
 117     switch (chosenPosition) {
 118     case 1:
 119       chosenDefense = (Integer) positionOneDefense.getSelected();
 120     case 2:
 121       chosenDefense = (Integer) positionTwoDefense.getSelected();
 122     case 3:
 123       chosenDefense = (Integer) positionThreeDefense.getSelected();
 124     case 4:
 125       chosenDefense = (Integer) positionFourDefense.getSelected();
 126     case 5:
 127       chosenDefense = (Integer) positionFiveDefense.getSelected();
 128     }
 129
 130     System.out.println("Chosen Position: " + chosenPosition);
 131     System.out.println("Chosen Defense: " + chosenDefense);
 132   }
 133
 134   @Override
 135   public void autonomousPeriodic() {
 136     Scheduler.getInstance().run();
 137   }
 138
 139   @Override
 140   public void teleopInit() {
 141
 142     gyro.start();
 143
 144   }
 145
 146   @Override
 147   public void teleopPeriodic() {
 148     Scheduler.getInstance().run();
 149
 150     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 151
 152   }
 153
 154 }