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;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
public static OI oi;
public static DriveTrain driveTrain;
+ public static Shooter shooter;
+
+ public static Scaler scaler;
+
+ public static IntakeArm intakeArm;
+ public static DefenseArm defenseArm;
+
+ // Sendable Choosers send a drop down menu to the Smart Dashboard.
+ SendableChooser positionChooser;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+ positionFourDefense, positionFiveDefense;
+
+ // Gyro stuff
+ public GyroLib gyro;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
+ gyro = new GyroLib(I2C.Port.kOnboard, false);
+
+ shooter = new Shooter();
+ scaler = new Scaler();
+ defenseArm = new DefenseArm();
+ intakeArm = new IntakeArm();
+
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChoosers();
+ 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 addDefensesToAllDefenseSendableChoosers() {
+ 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);
+
+ SmartDashboard.putData("Position Four Defense Chooser",
+ positionFourDefense);
+ SmartDashboard.putData("Position Five Defense Chooser",
+ positionFiveDefense);
+
+ shooter = new Shooter();
+
}
@Override
public void autonomousInit() {
+ Scheduler.getInstance().run();
+
+ // get options chosen from drop down menu
+ Integer chosenPosition = (Integer) positionChooser.getSelected();
+ Integer chosenDefense = 0;
+
+ switch (chosenPosition) {
+ case 1:
+ chosenDefense = (Integer) positionOneDefense.getSelected();
+ case 2:
+ chosenDefense = (Integer) positionTwoDefense.getSelected();
+ case 3:
+ chosenDefense = (Integer) positionThreeDefense.getSelected();
+ case 4:
+ chosenDefense = (Integer) positionFourDefense.getSelected();
+ case 5:
+ chosenDefense = (Integer) positionFiveDefense.getSelected();
+ }
+
+ System.out.println("Chosen Position: " + chosenPosition);
+ System.out.println("Chosen Defense: " + chosenDefense);
}
@Override
public void autonomousPeriodic() {
Scheduler.getInstance().run();
-
}
@Override
public void teleopInit() {
+
+ gyro.start();
+
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+ System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+
}
+
}