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   public static DefenseArm defenseArm;
  23   public static IntakeArm intakeArm;
  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   // Gyro stuff
  31   private final static double NANOSECONDS_PER_SECOND = 1000000000;
  32   short rawValue;
  33   public FirebotGyro gyro;
  34
  35   double initialSpeedNanoseconds;
  36   double finalSpeedNanoseconds;
  37   double initialSpeedSeconds;
  38   double finalSpeedSeconds;
  39   double deltaSpeed;
  40   double degrees;
  41
  42   @Override
  43   public void robotInit() {
  44     // driveTrain = new DriveTrain();
  45     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  46     // oi = new OI();
  47
  48     shooter = new Shooter();
  49     scaler = new Scaler();
  50     defenseArm = new DefenseArm();
  51     intakeArm = new IntakeArm();
  52
  53     // Sendable Choosers allows the driver to select the position of the robot
  54     // and the positions of the defenses from a drop-down menu on the Smart
  55     // Dashboard
  56     // make the Sendable Choosers
  57     initializeSendableChoosers();
  58     addPositionChooserOptions();
  59     addDefensesToAllDefenseSendableChooosers();
  60     sendSendableChoosersToSmartDashboard();
  61
  62   }
  63
  64   private void initializeSendableChoosers() {
  65     positionChooser = new SendableChooser();
  66     positionOneDefense = new SendableChooser();
  67     positionTwoDefense = new SendableChooser();
  68     positionThreeDefense = new SendableChooser();
  69     positionFourDefense = new SendableChooser();
  70     positionFiveDefense = new SendableChooser();
  71   }
  72
  73   private void addPositionChooserOptions() {
  74     positionChooser.addDefault("Position 1", 1);
  75     positionChooser.addObject("Position 2", 2);
  76     positionChooser.addObject("Position 3", 3);
  77     positionChooser.addObject("Position 4", 4);
  78     positionChooser.addObject("Position 5", 5);
  79   }
  80
  81   private void addDefensesToAllDefenseSendableChooosers() {
  82     addDefenseOptions(positionOneDefense);
  83     addDefenseOptions(positionTwoDefense);
  84     addDefenseOptions(positionThreeDefense);
  85     addDefenseOptions(positionFourDefense);
  86     addDefenseOptions(positionFiveDefense);
  87   }
  88
  89   private void addDefenseOptions(SendableChooser chooser) {
  90     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  91     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  92     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  93     chooser.addObject("Low Bar", Defense.LOW_BAR);
  94     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  95     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  96     chooser.addObject("Moat", Defense.MOAT);
  97     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  98   }
  99
 100   private void sendSendableChoosersToSmartDashboard() {
 101     SmartDashboard.putData("PositionChooser", positionChooser);
 102     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 103     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 104     SmartDashboard.putData("Position Three Defense Chooser",
 105         positionThreeDefense);
 106     SmartDashboard.putData("Position Four Defense Chooser",
 107         positionFourDefense);
 108     SmartDashboard.putData("Position Five Defense Chooser",
 109         positionFiveDefense);
 110     SmartDashboard.putData("Position Four Defense Chooser",
 111         positionFourDefense);
 112     SmartDashboard.putData("Position Five Defense Chooser",
 113         positionFiveDefense);
 114
 115     shooter = new Shooter();
 116   }
 117
 118   @Override
 119   public void autonomousInit() {
 120     Scheduler.getInstance().run();
 121
 122     // get options chosen from drop down menu
 123     Integer chosenPosition = (Integer) positionChooser.getSelected();
 124     Integer chosenDefense = 0;
 125
 126     switch (chosenPosition) {
 127     case 1:
 128       chosenDefense = (Integer) positionOneDefense.getSelected();
 129     case 2:
 130       chosenDefense = (Integer) positionTwoDefense.getSelected();
 131     case 3:
 132       chosenDefense = (Integer) positionThreeDefense.getSelected();
 133     case 4:
 134       chosenDefense = (Integer) positionFourDefense.getSelected();
 135     case 5:
 136       chosenDefense = (Integer) positionFiveDefense.getSelected();
 137     }
 138
 139     System.out.println("Chosen Position: " + chosenPosition);
 140     System.out.println("Chosen Defense: " + chosenDefense);
 141   }
 142
 143   @Override
 144   public void autonomousPeriodic() {
 145     Scheduler.getInstance().run();
 146   }
 147
 148   @Override
 149   public void teleopInit() {
 150   }
 151
 152   @Override
 153   public void teleopPeriodic() {
 154     Scheduler.getInstance().run();
 155   }
 156 }