+ scaler = new Scaler();
+ intakeArm = new IntakeArm();
+
+ // Sendable Choosers allows the driver to select the position of the
+ // robot
+ // and the positions of the defenses from a drop-down menu on the Smart
+ // Dashboard
+ // make the Sendable Choosers
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChooosers();
+ sendSendableChoosersToSmartDashboard();
+
+ }
+
+ private void initializeSendableChoosers() {
+ positionChooser = new SendableChooser();
+ positionOneDefense = new SendableChooser();
+ positionTwoDefense = new SendableChooser();
+ positionThreeDefense = new SendableChooser();
+ positionFourDefense = new SendableChooser();
+ positionFiveDefense = new SendableChooser();
+ }
+
+ private void addPositionChooserOptions() {
+ positionChooser.addDefault("Position 1", 1);
+ positionChooser.addObject("Position 2", 2);
+ positionChooser.addObject("Position 3", 3);
+ positionChooser.addObject("Position 4", 4);
+ positionChooser.addObject("Position 5", 5);
+ }
+
+ private void addDefensesToAllDefenseSendableChooosers() {
+ addDefenseOptions(positionOneDefense);
+ addDefenseOptions(positionTwoDefense);
+ addDefenseOptions(positionThreeDefense);
+ addDefenseOptions(positionFourDefense);
+ addDefenseOptions(positionFiveDefense);
+ }
+
+ private void addDefenseOptions(SendableChooser chooser) {
+ chooser.addDefault("Portcullis", Defense.PORTCULLIS);
+ chooser.addObject("Sally Port", Defense.SALLY_PORT);
+ chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
+ chooser.addObject("Low Bar", Defense.LOW_BAR);
+ chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
+ chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+ chooser.addObject("Moat", Defense.MOAT);
+ chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+ }
+
+ private void sendSendableChoosersToSmartDashboard() {
+ SmartDashboard.putData("PositionChooser", positionChooser);
+ SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
+ SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
+ SmartDashboard.putData("Position Three Defense Chooser",
+ positionThreeDefense);
+ SmartDashboard
+ .putData("Position Four Defense Chooser", positionFourDefense);
+ SmartDashboard
+ .putData("Position Five Defense Chooser", positionFiveDefense);