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