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.commands.shooter.ResetCatapult;
+import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+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.I2C.Port;
import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public static DriveTrain driveTrain;
public static Shooter shooter;
- enum Defense {
- PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
- };
+ public static Scaler scaler;
+
+ public static IntakeArm intakeArm;
+ public static DefenseArm defenseArm;
+
+ static I2C Wire = new I2C(Port.kOnboard, 42);
+ Joystick joy = new Joystick(1);
// Sendable Choosers send a drop down menu to the Smart Dashboard.
- SendableChooser positionOneDefense;
- SendableChooser positionTwoDefense;
- SendableChooser positionThreeDefense;
- SendableChooser positionFourDefense;
- SendableChooser positionFiveDefense;
SendableChooser positionChooser;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
+
shooter = new Shooter();
+ scaler = new Scaler();
+ intakeArm = new IntakeArm();
+
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChoosers();
+ sendSendableChoosersToSmartDashboard();
+
+ }
- // intialize 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
+ 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);
+ }
- // 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("Rock Wall", 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();
+
+ }
+
@Override
public void autonomousInit() {
Scheduler.getInstance().run();
Integer chosenPosition = (Integer) positionChooser.getSelected();
Integer chosenDefense = 0;
- switch (chosenPosition) {
- case 1:
+ if (chosenPosition == 1)
chosenDefense = (Integer) positionOneDefense.getSelected();
- case 2:
+ else if (chosenPosition == 2)
chosenDefense = (Integer) positionTwoDefense.getSelected();
- case 3:
+ else if (chosenPosition == 3)
chosenDefense = (Integer) positionThreeDefense.getSelected();
- case 4:
+ else if (chosenPosition == 4)
chosenDefense = (Integer) positionFourDefense.getSelected();
- case 5:
+ else if (chosenPosition == 5)
chosenDefense = (Integer) positionFiveDefense.getSelected();
- }
System.out.println("Chosen Position: " + chosenPosition);
System.out.println("Chosen Defense: " + chosenDefense);
@Override
public void teleopInit() {
- System.out.println("running teleopInit");
+ Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+ // of each match.
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
- }
-
- public void operate() {
-
+ if (joy.getRawButton(1)) { // Check if the button is pressed
+ String WriteString = "RGB"; // String that is going to transfer; change to
+ // whatever the Arduino code has
+ char[] CharArray = WriteString.toCharArray(); // Changes data type
+ // (string) to char array
+ // Char array: array of chars
+ byte[] WriteData = new byte[CharArray.length]; // Makes the char array
+ // able to transfer from
+ // roboRio to Arduino
+ for (int i = 0; i < CharArray.length; i++) { // Repeats for each char in
+ // CharArray
+ WriteData[i] = (byte) CharArray[i]; // Sets the char to byte
+ }
+ Wire.transaction(WriteData, WriteData.length, null, 0); // Finally does
+ // transaction
+ }
}
}
projects / 3501 / stronghold-2016 / blobdiff