package org.usfirst.frc.team3501.robot;
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 OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+
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 positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
scaler = new Scaler();
intakeArm = new IntakeArm();
- // 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();
+ addDefensesToAllDefenseSendableChoosers();
sendSendableChoosersToSmartDashboard();
}
positionChooser.addObject("Position 5", 5);
}
- private void addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
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();
- }
-
- private void addDefense(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);
-
- shooter = new Shooter();
}
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() {
+ Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+ // of each match.
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
+ 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
+ }
}
+
}