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.Auton;
   4 import org.usfirst.frc.team3501.robot.Constants.Defense;
   5 import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
   6 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   7 import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate;
   8 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   9 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
  10 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  11
  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   public static IntakeArm intakeArm;
  22   public static Photogate photogate;
  23
  24   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  25   SendableChooser defenseChooser;
  26
  27   @Override
  28   public void robotInit() {
  29     driveTrain = new DriveTrain();
  30     shooter = new Shooter();
  31     intakeArm = new IntakeArm();
  32
  33     oi = new OI();
  34     photogate = new Photogate();
  35
  36     defenseChooser = new SendableChooser();
  37     addDefenseOptions(defenseChooser);
  38     SmartDashboard.putData("Defense Chooser", defenseChooser);
  39   }
  40
  41   private void addDefenseOptions(SendableChooser chooser) {
  42     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  43     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  44     chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
  45         + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
  46     chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
  47     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
  48     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  49     chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
  50         Defense.MOAT);
  51     chooser.addObject(
  52         "Rock Wall" + Auton.ROCK_WALL_SPEED + " " + Auton.ROCK_WALL_TIME,
  53         Defense.ROCK_WALL);
  54   }
  55
  56   @Override
  57   public void autonomousInit() {
  58     Defense chosenDefense = (Defense) (defenseChooser.getSelected());
  59
  60     Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));
  61
  62     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
  63   }
  64
  65   @Override
  66   public void autonomousPeriodic() {
  67     Scheduler.getInstance().run();
  68   }
  69
  70   @Override
  71   public void teleopInit() {
  72     Scheduler.getInstance().add(new SetLowGear());
  73   }
  74
  75   @Override
  76   public void teleopPeriodic() {
  77     Scheduler.getInstance().run();
  78   }
  79
  80 }