make a method for initializing all the Sendable Choosers

[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 f42d6a4138fba1fed5514577f6f28101c8d677c7..37b3c24671f8b6c96d8e879c1d53d756729c8dba 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,7 @@
 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.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
@@ -13,16 +14,10 @@ public class Robot extends IterativeRobot {
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
-  enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
-  };
-
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
@@ -30,13 +25,7 @@ public class Robot extends IterativeRobot {
     oi = new OI();
     shooter = new Shooter();
 
-    // intialize all the Sendable Choosers
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
+    initializeSendableChoosers();
 
     // add options for positions to the positionChooser
     positionChooser.addDefault("Position 1", 1);
@@ -52,13 +41,29 @@ public class Robot extends IterativeRobot {
     addDefense(positionFourDefense);
     addDefense(positionFiveDefense);
 
-    SmartDashboard.putData("Position", positionChooser);
-    SmartDashboard.putData("Position One Defense", positionOneDefense);
-    SmartDashboard.putData("Position Two Defense", positionTwoDefense);
-    SmartDashboard.putData("Position Three Defense", positionThreeDefense);
-    SmartDashboard.putData("Position Four Defense", positionFourDefense);
-    SmartDashboard.putData("Position Five Defense", 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);
+  }
 
+  // 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();
   }
 
   private void addDefense(SendableChooser chooser) {
@@ -78,18 +83,20 @@ public class Robot extends IterativeRobot {
 
     // get options chosen from drop down menu
     Integer chosenPosition = (Integer) positionChooser.getSelected();
-    Integer chosenDefense = -1;
+    Integer chosenDefense = 0;
 
-    if (chosenPosition == 1)
+    switch (chosenPosition) {
+    case 1:
       chosenDefense = (Integer) positionOneDefense.getSelected();
-    if (chosenPosition == 2)
+    case 2:
       chosenDefense = (Integer) positionTwoDefense.getSelected();
-    if (chosenPosition == 3)
+    case 3:
       chosenDefense = (Integer) positionThreeDefense.getSelected();
-    if (chosenPosition == 4)
+    case 4:
       chosenDefense = (Integer) positionFourDefense.getSelected();
-    if (chosenPosition == 5)
+    case 5:
       chosenDefense = (Integer) positionFiveDefense.getSelected();
+    }
 
     System.out.println("Chosen Position: " + chosenPosition);
     System.out.println("Chosen Defense: " + chosenDefense);
@@ -102,7 +109,6 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    System.out.println("running teleopInit");
   }
 
   @Override
@@ -110,9 +116,4 @@ public class Robot extends IterativeRobot {
     Scheduler.getInstance().run();
 
   }
-
-  public void operate() {
-
-  }
-
 }