package org.usfirst.frc.team3501.robot;
+import org.usfirst.frc.team3501.robot.Constants.Auton;
import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.IterativeRobot;
public static OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+ public static IntakeArm intakeArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
- SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense, positionFiveDefense;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
- oi = new OI();
shooter = new Shooter();
+ intakeArm = new IntakeArm();
+
+ oi = new OI();
+
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChoosers();
+ sendSendableChoosersToSmartDashboard();
+ }
- // initialize 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
- positionChooser.addDefault("Position 1", 1);
+ private void addPositionChooserOptions() {
+ positionChooser.addDefault("None", 0);
+ positionChooser.addObject("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);
-
- // 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
- 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 addDefensesToAllDefenseSendableChoosers() {
+ addDefenseOptions(positionOneDefense);
+ addDefenseOptions(positionTwoDefense);
+ addDefenseOptions(positionThreeDefense);
+ addDefenseOptions(positionFourDefense);
+ addDefenseOptions(positionFiveDefense);
}
- private void addDefense(SendableChooser chooser) {
+ 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("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
+ + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
+ chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
+ + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
+ chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
- chooser.addObject("Moat", Defense.MOAT);
- chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+ chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
+ Defense.MOAT);
+ chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
+ + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
+ }
+
+ private void sendSendableChoosersToSmartDashboard() {
+ SmartDashboard.putData("PositionChooser", positionChooser);
+ SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
+ SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
+ SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
+ SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
+ SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
+
}
@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);
+ Defense chosenDefense = null;
+
+ if (chosenPosition == 1)
+ chosenDefense = (Defense) positionOneDefense.getSelected();
+ else if (chosenPosition == 2)
+ chosenDefense = (Defense) positionTwoDefense.getSelected();
+ else if (chosenPosition == 3)
+ chosenDefense = (Defense) positionThreeDefense.getSelected();
+ else if (chosenPosition == 4)
+ chosenDefense = (Defense) positionFourDefense.getSelected();
+ else if (chosenPosition == 5)
+ chosenDefense = (Defense) positionFiveDefense.getSelected();
+
+ if (chosenPosition != 0)
+ Scheduler.getInstance().add(
+ new ChooseStrategy(chosenPosition, chosenDefense));
+
+ // Scheduler.getInstance().add(new TimeDrive(.6, 4));
}
@Override
@Override
public void teleopInit() {
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
+
}