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