add code for switching b/w cameras

[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 6b9a28e720eaee68932c6ab9dcb6046eb48d7702..be58f085bc576b4e902aa884a02877df0ce9611d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,11 @@
 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.commands.auton.ChooseStrategy;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate;
+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;
@@ -12,90 +17,64 @@ 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;
+  public static CameraFeeds cameraFeeds;
 
-  enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
-  };
-
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
-  SendableChooser positionChooser;
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
+  private static SendableChooser defenseChooser;
+  private static SendableChooser frontChooser;
+  boolean choseIntakeIsFront;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
-    oi = new OI();
     shooter = new Shooter();
+    intakeArm = new IntakeArm();
+    photogate = new Photogate();
+    cameraFeeds = new CameraFeeds();
+
+    oi = new OI();
 
-    // intialize all the Sendable Choosers
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
-
-    // add options for positions to the positionChooser
-    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);
-
-    // add options for defenses into each defense chooser (5)
-    addDefense(positionOneDefense);
-    addDefense(positionTwoDefense);
-    addDefense(positionThreeDefense);
-    addDefense(positionFourDefense);
-    addDefense(positionFiveDefense);
-
-    // send the Sendable Choosers to the Smart Dashboard
-    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);
+    defenseChooser = new SendableChooser();
+    addDefenseOptions(defenseChooser);
+    SmartDashboard.putData("Defense Chooser", defenseChooser);
+
+    frontChooser = new SendableChooser();
+    addFrontChooserOptions();
+    SmartDashboard.putData("Front Chooser", frontChooser);
+  }
+
+  private void addFrontChooserOptions() {
+    frontChooser.addDefault("Intake is Back", false);
+    frontChooser.addObject("Intake is True", true);
   }
 
-  private void addDefense(SendableChooser chooser) {
+  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("Chival De Frise", Defense.CHIVAL_DE_FRISE);
     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
     chooser.addObject("Moat", Defense.MOAT);
     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
+    chooser.addObject("No Auton", Defense.NONE);
   }
 
   @Override
   public void autonomousInit() {
-    Scheduler.getInstance().run();
+    Defense chosenDefense = (Defense) (defenseChooser.getSelected());
+    choseIntakeIsFront = (boolean) frontChooser.getSelected();
+
+    // if the shooter is not the front (intake is front) - toggle the drivetrain
+    if (choseIntakeIsFront)
+      driveTrain.toggleFlipped();
+
+    Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));
+
+    // Scheduler.getInstance().add(new TimeDrive(.6, 4));
 
-    // get options chosen from drop down menu
-    Integer chosenPosition = (Integer) positionChooser.getSelected();
-    Integer chosenDefense = 0;
-
-    if (chosenPosition == 1)
-      chosenDefense = (Integer) positionOneDefense.getSelected();
-    if (chosenPosition == 2)
-      chosenDefense = (Integer) positionTwoDefense.getSelected();
-    if (chosenPosition == 3)
-      chosenDefense = (Integer) positionThreeDefense.getSelected();
-    if (chosenPosition == 4)
-      chosenDefense = (Integer) positionFourDefense.getSelected();
-    if (chosenPosition == 5)
-      chosenDefense = (Integer) positionFiveDefense.getSelected();
-
-    System.out.println("Chosen Position: " + chosenPosition);
-    System.out.println("Chosen Defense: " + chosenDefense);
   }
 
   @Override
@@ -105,17 +84,19 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    System.out.println("running teleopInit");
+    // if intake is front, switch back to shooter as front
+    // this is done on purpose!
+    if (choseIntakeIsFront)
+      driveTrain.toggleFlipped();
+
+    cameraFeeds.init();
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-  }
-
-  public void operate() {
-
+    cameraFeeds.run();
   }
 
 }