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;
public static Shooter shooter;
public static Scaler scaler;
- public static DefenseArm defenseArm;
+
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;
+ 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();
+ 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();
+ addDefensesToAllDefenseSendableChoosers();
sendSendableChoosersToSmartDashboard();
}
positionChooser.addObject("Position 5", 5);
}
- private void addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
positionFourDefense);
SmartDashboard.putData("Position Five Defense Chooser",
positionFiveDefense);
-<<<<<<< HEAD
-=======
+
SmartDashboard.putData("Position Four Defense Chooser",
positionFourDefense);
SmartDashboard.putData("Position Five Defense Chooser",
positionFiveDefense);
shooter = new Shooter();
->>>>>>> Initialize AnalogGyro in Robot class
+
}
@Override
@Override
public void teleopInit() {
+
+ gyro.start();
+
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+ System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+
}
+
}