package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
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.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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;
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
- gyro = new GyroLib(I2C.Port.kOnboard, false);
shooter = new Shooter();
scaler = new Scaler();
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() {
-
- gyro.start();
-
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
- System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
}
}