Add constant arm length and command getArmHeight

[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 79e12d9e00d8adc2adeb8be51b8fd97fa8978459..9d97660caace18d282b4bef5fdf54e6f2503b47c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,40 +1,130 @@
 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.IntakeArm;
+import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 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 OI oi;
+       public static DriveTrain driveTrain;
+       public static Shooter shooter;
+       public static Scaler scaler;
+       public static IntakeArm intakeArm;
 
-  @Override
-  public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
-    shooter = new Shooter();
-  }
+       // Sendable Choosers send a drop down menu to the Smart Dashboard.
+       SendableChooser positionChooser;
+       SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense,
+                       positionFiveDefense;
 
-  @Override
-  public void autonomousInit() {
-  }
+       @Override
+       public void robotInit() {
+               driveTrain = new DriveTrain();
+               oi = new OI();
+               shooter = new Shooter();
+               scaler = new Scaler();
+               intakeArm = new IntakeArm();
 
-  @Override
-  public void autonomousPeriodic() {
-    Scheduler.getInstance().run();
+               // 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();
+               sendSendableChoosersToSmartDashboard();
 
-  }
+       }
 
-  @Override
-  public void teleopInit() {
-  }
+       private void initializeSendableChoosers() {
+               positionChooser = new SendableChooser();
+               positionOneDefense = new SendableChooser();
+               positionTwoDefense = new SendableChooser();
+               positionThreeDefense = new SendableChooser();
+               positionFourDefense = new SendableChooser();
+               positionFiveDefense = new SendableChooser();
+       }
 
-  @Override
-  public void teleopPeriodic() {
-    Scheduler.getInstance().run();
+       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);
+       }
 
-  }
+       private void addDefensesToAllDefenseSendableChooosers() {
+               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", 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);
+       }
+
+       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);
+       }
+
+       @Override
+       public void autonomousInit() {
+               Scheduler.getInstance().run();
+
+               // get options chosen from drop down menu
+               Integer chosenPosition = (Integer) positionChooser.getSelected();
+               Integer chosenDefense = 0;
+
+               switch (chosenPosition) {
+               case 1:
+                       chosenDefense = (Integer) positionOneDefense.getSelected();
+               case 2:
+                       chosenDefense = (Integer) positionTwoDefense.getSelected();
+               case 3:
+                       chosenDefense = (Integer) positionThreeDefense.getSelected();
+               case 4:
+                       chosenDefense = (Integer) positionFourDefense.getSelected();
+               case 5:
+                       chosenDefense = (Integer) positionFiveDefense.getSelected();
+               }
+
+               System.out.println("Chosen Position: " + chosenPosition);
+               System.out.println("Chosen Defense: " + chosenDefense);
+       }
+
+       @Override
+       public void autonomousPeriodic() {
+               Scheduler.getInstance().run();
+       }
+
+       @Override
+       public void teleopInit() {
+       }
+
+       @Override
+       public void teleopPeriodic() {
+               Scheduler.getInstance().run();
+
+       }
 }