Add camera, change to arcade drive, front chooser only, minor driving fixes

[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 a86721d0a1a4ac73903f5ba6a2c63cae614c1137..2b58d19d22d5f41dfce87d95c7ab1dd98b0fc04c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,11 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
-import org.usfirst.frc.team3501.robot.subsystems.Scaler;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
-import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -15,105 +16,52 @@ 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;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
-
-  public static Lidar lidar;
+  private static SendableChooser frontChooser;
+  private static CameraServer camera;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
-    oi = new OI();
     shooter = new Shooter();
-    scaler = new Scaler();
-    lidar = new Lidar(I2C.Port.kOnboard);
-
-    // 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();
+    intakeArm = new IntakeArm();
 
-  }
+    oi = new OI();
 
-  private void initializeSendableChoosers() {
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
-  }
+    initializeSendableChooser();
+    addFrontChooserOptions();
+    sendSendableChooserToSmartDashboard();
 
-  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);
+    camera = CameraServer.getInstance();
+    camera.setQuality(50);
+    camera.startAutomaticCapture("cam0");
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
-    addDefenseOptions(positionOneDefense);
-    addDefenseOptions(positionTwoDefense);
-    addDefenseOptions(positionThreeDefense);
-    addDefenseOptions(positionFourDefense);
-    addDefenseOptions(positionFiveDefense);
+  private void initializeSendableChooser() {
+    frontChooser = new SendableChooser();
   }
 
-  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 addFrontChooserOptions() {
+    frontChooser.addDefault("Intake", false);
+    frontChooser.addObject("Shooter", true);
   }
 
-  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);
+  private void sendSendableChooserToSmartDashboard() {
+    SmartDashboard.putData("PositionChooser", frontChooser);
   }
 
   @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();
+    boolean flip = (boolean) frontChooser.getSelected();
+
+    if (flip) {
+      driveTrain.toggleFlipped();
     }
 
-    System.out.println("Chosen Position: " + chosenPosition);
-    System.out.println("Chosen Defense: " + chosenDefense);
+    Scheduler.getInstance().add(new TimeDrive(4, .7));
   }
 
   @Override
@@ -123,18 +71,12 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    lidar.start();
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override
   public void teleopPeriodic() {
-    printLidarValues();
     Scheduler.getInstance().run();
-
   }
 
-  public void printLidarValues() {
-
-    System.out.println(lidar.pidGet());
-  }
 }