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     shooter = new Shooter();
  48     scaler = new Scaler();
  49     defenseArm = new DefenseArm();
  50         intakeArm = new IntakeArm();
  51
  52     // Sendable Choosers allows the driver to select the position of the robot
  53     // and the positions of the defenses from a drop-down menu on the Smart
  54     // Dashboard
  55     // make the Sendable Choosers
  56     initializeSendableChoosers();
  57     addPositionChooserOptions();
  58     addDefensesToAllDefenseSendableChooosers();
  59     sendSendableChoosersToSmartDashboard();
  60
  61   }
  62
  63   private void initializeSendableChoosers() {
  64     positionChooser = new SendableChooser();
  65     positionOneDefense = new SendableChooser();
  66     positionTwoDefense = new SendableChooser();
  67     positionThreeDefense = new SendableChooser();
  68     positionFourDefense = new SendableChooser();
  69     positionFiveDefense = new SendableChooser();
  70   }
  71
  72   private void addPositionChooserOptions() {
  73     positionChooser.addDefault("Position 1", 1);
  74     positionChooser.addObject("Position 2", 2);
  75     positionChooser.addObject("Position 3", 3);
  76     positionChooser.addObject("Position 4", 4);
  77     positionChooser.addObject("Position 5", 5);
  78   }
  79
  80   private void addDefensesToAllDefenseSendableChooosers() {
  81     addDefenseOptions(positionOneDefense);
  82     addDefenseOptions(positionTwoDefense);
  83     addDefenseOptions(positionThreeDefense);
  84     addDefenseOptions(positionFourDefense);
  85     addDefenseOptions(positionFiveDefense);
  86   }
  87
  88   private void addDefenseOptions(SendableChooser chooser) {
  89     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  90     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  91     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  92     chooser.addObject("Low Bar", Defense.LOW_BAR);
  93     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  94     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  95     chooser.addObject("Moat", Defense.MOAT);
  96     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  97   }
  98
  99   private void sendSendableChoosersToSmartDashboard() {
 100     SmartDashboard.putData("PositionChooser", positionChooser);
 101     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 102     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 103     SmartDashboard.putData("Position Three Defense Chooser",
 104         positionThreeDefense);
 105     SmartDashboard.putData("Position Four Defense Chooser",
 106         positionFourDefense);
 107     SmartDashboard.putData("Position Five Defense Chooser",
 108         positionFiveDefense);
 109     SmartDashboard.putData("Position Four Defense Chooser",
 110         positionFourDefense);
 111     SmartDashboard.putData("Position Five Defense Chooser",
 112         positionFiveDefense);
 113
 114     shooter = new Shooter();
 115   }
 116
 117   @Override
 118   public void autonomousInit() {
 119     Scheduler.getInstance().run();
 120
 121     // get options chosen from drop down menu
 122     Integer chosenPosition = (Integer) positionChooser.getSelected();
 123     Integer chosenDefense = 0;
 124
 125     switch (chosenPosition) {
 126     case 1:
 127       chosenDefense = (Integer) positionOneDefense.getSelected();
 128     case 2:
 129       chosenDefense = (Integer) positionTwoDefense.getSelected();
 130     case 3:
 131       chosenDefense = (Integer) positionThreeDefense.getSelected();
 132     case 4:
 133       chosenDefense = (Integer) positionFourDefense.getSelected();
 134     case 5:
 135       chosenDefense = (Integer) positionFiveDefense.getSelected();
 136     }
 137
 138     System.out.println("Chosen Position: " + chosenPosition);
 139     System.out.println("Chosen Defense: " + chosenDefense);
 140   }
 141
 142   @Override
 143   public void autonomousPeriodic() {
 144     Scheduler.getInstance().run();
 145   }
 146
 147   @Override
 148   public void teleopInit() {
 149     Robot.driveTrain.initializeGyro();
 150   }
 151
 152   @Override
 153   public void teleopPeriodic() {
 154     Scheduler.getInstance().run();
 155
 156   }
 157 }