package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
+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;
import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
public static OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
public static IntakeArm intakeArm;
+ // public static Photogate photogate;
+
+ // Sendable Choosers send a drop down menu to the Smart Dashboard.
+ SendableChooser positionChooser;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
intakeArm = new IntakeArm();
oi = new OI();
+ // photogate = new Photogate();
+
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChoosers();
+ sendSendableChoosersToSmartDashboard();
+ }
+
+ private void initializeSendableChoosers() {
+ positionChooser = new SendableChooser();
+ positionOneDefense = new SendableChooser();
+ positionTwoDefense = new SendableChooser();
+ positionThreeDefense = new SendableChooser();
+ positionFourDefense = new SendableChooser();
+ positionFiveDefense = new SendableChooser();
+ }
+
+ 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);
+ }
+
+ private void addDefensesToAllDefenseSendableChoosers() {
+ addDefenseOptions(positionOneDefense);
+ addDefenseOptions(positionTwoDefense);
+ addDefenseOptions(positionThreeDefense);
+ addDefenseOptions(positionFourDefense);
+ addDefenseOptions(positionFiveDefense);
+ }
+
+ private void addDefenseOptions(SendableChooser chooser) {
+ chooser.addDefault("Portcullis", Defense.PORTCULLIS);
+ chooser.addObject("Sally Port", Defense.SALLY_PORT);
+ chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
+ + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
+ chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
+ chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
+ chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+ 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() {
+ // get options chosen from drop down menu
+ Integer chosenPosition = (Integer) positionChooser.getSelected();
+ 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 SetHighGear());
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override