Switch all methods of gyro to Robot class so DriveTrain does not have to be depended...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 0c75eeecd1158382fe7a9963032db934fa2d8557..18f5fd5af30a032d3267df813d7148b783f32139 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,8 +1,13 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
+import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -13,50 +18,87 @@ public class Robot extends IterativeRobot {
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
-  enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
-  };
+  public static Scaler scaler;
+
+  public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
   SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
+
+  // Gyro stuff
+  private final static double NANOSECONDS_PER_SECOND = 1000000000;
+  short rawValue;
+  public FirebotGyro gyro;
+
+  double initialSpeedNanoseconds;
+  double finalSpeedNanoseconds;
+  double initialSpeedSeconds;
+  double finalSpeedSeconds;
+  double deltaSpeed;
+  double degrees;
 
   @Override
   public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
+    // driveTrain = new DriveTrain();
+    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+    // oi = new OI();
+
     shooter = new Shooter();
+    scaler = new Scaler();
+    defenseArm = new DefenseArm();
+    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();
+
+  }
 
-    // intialize all the Sendable Choosers
+  private void initializeSendableChoosers() {
     positionChooser = new SendableChooser();
     positionOneDefense = new SendableChooser();
     positionTwoDefense = new SendableChooser();
     positionThreeDefense = new SendableChooser();
     positionFourDefense = new SendableChooser();
     positionFiveDefense = new SendableChooser();
+  }
 
-    // add options for positions to the positionChooser
+  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);
+  }
 
-    // add options for defenses into each defense chooser (5)
-    addDefense(positionOneDefense);
-    addDefense(positionTwoDefense);
-    addDefense(positionThreeDefense);
-    addDefense(positionFourDefense);
-    addDefense(positionFiveDefense);
+  private void addDefensesToAllDefenseSendableChooosers() {
+    addDefenseOptions(positionOneDefense);
+    addDefenseOptions(positionTwoDefense);
+    addDefenseOptions(positionThreeDefense);
+    addDefenseOptions(positionFourDefense);
+    addDefenseOptions(positionFiveDefense);
+  }
 
-    // send the Sendable Choosers to the Smart Dashboard
-    // 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
+  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);
@@ -66,17 +108,12 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
-  }
+    SmartDashboard.putData("Position Four Defense Chooser",
+        positionFourDefense);
+    SmartDashboard.putData("Position Five Defense Chooser",
+        positionFiveDefense);
 
-  private void addDefense(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);
+    shooter = new Shooter();
   }
 
   @Override