package org.usfirst.frc.team3501.robot;
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.Scaler;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
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 OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
- public static Scaler scaler;
+ public static IntakeArm intakeArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
- public static Lidar lidar;
-
@Override
public void robotInit() {
driveTrain = new DriveTrain();
- oi = new OI();
shooter = new Shooter();
- scaler = new Scaler();
- lidar = new Lidar(I2C.Port.kOnboard);
+ intakeArm = new IntakeArm();
+
+ oi = new OI();
- // 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();
-
}
private void initializeSendableChoosers() {
}
private void addPositionChooserOptions() {
- positionChooser.addDefault("Position 1", 1);
+ 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 addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
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("Chival De Frise", Defense.CHIVAL_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);
+ 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() {
- 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);
+ 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() {
- lidar.start();
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override
public void teleopPeriodic() {
- printLidarValues();
Scheduler.getInstance().run();
-
}
- public void printLidarValues() {
-
- System.out.println(lidar.pidGet());
- }
}