Auton updates

[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 905844120d2bba3ebfbae9ace7670b060c4b0a83..2f97c9ad36f58f9cf91af5a6c21cda66fe624088 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,15 +1,13 @@
 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.sensors.GyroLib;
-import org.usfirst.frc.team3501.robot.sensors.Photogate;
-import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+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.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;
@@ -19,37 +17,25 @@ 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;
-
-  public static Photogate photogate;
 
   // 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();
     intakeArm = new IntakeArm();
 
+    oi = new OI();
+
     initializeSendableChoosers();
     addPositionChooserOptions();
     addDefensesToAllDefenseSendableChoosers();
     sendSendableChoosersToSmartDashboard();
-
   }
 
   private void initializeSendableChoosers() {
@@ -62,7 +48,8 @@ public class Robot extends IterativeRobot {
   }
 
   private void addPositionChooserOptions() {
-    positionChooser.addDefault("Position 1", 1);
+    positionChooser.addDefault("None", 0);
+    positionChooser.addObject("Position 1", 1);
     positionChooser.addObject("Position 2", 2);
     positionChooser.addObject("Position 3", 3);
     positionChooser.addObject("Position 4", 4);
@@ -80,55 +67,50 @@ public class Robot extends IterativeRobot {
   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 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();
+    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;
+    Defense chosenDefense = null;
 
     if (chosenPosition == 1)
-      chosenDefense = (Integer) positionOneDefense.getSelected();
+      chosenDefense = (Defense) positionOneDefense.getSelected();
     else if (chosenPosition == 2)
-      chosenDefense = (Integer) positionTwoDefense.getSelected();
+      chosenDefense = (Defense) positionTwoDefense.getSelected();
     else if (chosenPosition == 3)
-      chosenDefense = (Integer) positionThreeDefense.getSelected();
+      chosenDefense = (Defense) positionThreeDefense.getSelected();
     else if (chosenPosition == 4)
-      chosenDefense = (Integer) positionFourDefense.getSelected();
+      chosenDefense = (Defense) positionFourDefense.getSelected();
     else if (chosenPosition == 5)
-      chosenDefense = (Integer) positionFiveDefense.getSelected();
+      chosenDefense = (Defense) positionFiveDefense.getSelected();
+
+    if (chosenPosition != 0)
+      Scheduler.getInstance().add(
+          new ChooseStrategy(chosenPosition, chosenDefense));
 
-    System.out.println("Chosen Position: " + chosenPosition);
-    System.out.println("Chosen Defense: " + chosenDefense);
+    // Scheduler.getInstance().add(new TimeDrive(.6, 4));
   }
 
   @Override
@@ -138,17 +120,12 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
 
 }