Revive old auton selection code

[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 905844120d2bba3ebfbae9ace7670b060c4b0a83..be19f16163ac021691fe7124b934a3142db7da0c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,15 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.sensors.GyroLib;
-import org.usfirst.frc.team3501.robot.sensors.Photogate;
-import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
+import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
 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;
@@ -19,37 +16,25 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
-
-  public static Scaler scaler;
-
   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;
-
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
-    oi = new OI();
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
-
     shooter = new Shooter();
-    scaler = new Scaler();
     intakeArm = new IntakeArm();
 
+    oi = new OI();
+
     initializeSendableChoosers();
     addPositionChooserOptions();
     addDefensesToAllDefenseSendableChoosers();
     sendSendableChoosersToSmartDashboard();
-
   }
 
   private void initializeSendableChoosers() {
@@ -82,7 +67,7 @@ public class Robot extends IterativeRobot {
     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);
@@ -94,41 +79,37 @@ public class Robot extends IterativeRobot {
     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 Four Defense Chooser", 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();
+    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;
+    Defense chosenDefense = null;
 
     if (chosenPosition == 1)
-      chosenDefense = (Integer) positionOneDefense.getSelected();
+      chosenDefense = (Defense) positionOneDefense.getSelected();
     else if (chosenPosition == 2)
-      chosenDefense = (Integer) positionTwoDefense.getSelected();
+      chosenDefense = (Defense) positionTwoDefense.getSelected();
     else if (chosenPosition == 3)
-      chosenDefense = (Integer) positionThreeDefense.getSelected();
+      chosenDefense = (Defense) positionThreeDefense.getSelected();
     else if (chosenPosition == 4)
-      chosenDefense = (Integer) positionFourDefense.getSelected();
+      chosenDefense = (Defense) positionFourDefense.getSelected();
     else if (chosenPosition == 5)
-      chosenDefense = (Integer) positionFiveDefense.getSelected();
+      chosenDefense = (Defense) positionFiveDefense.getSelected();
 
-    System.out.println("Chosen Position: " + chosenPosition);
-    System.out.println("Chosen Defense: " + chosenDefense);
+    Scheduler.getInstance().add(
+        new ChooseStrategy(chosenPosition, chosenDefense));
   }
 
   @Override
@@ -138,17 +119,12 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
+    Scheduler.getInstance().add(new SetHighGear());
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
 
 }