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 7678a7289cc4506c66670c42418b5292fa9a0ef5..be58f085bc576b4e902aa884a02877df0ce9611d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,33 +1,80 @@
 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.commands.intakearm.MoveIntakeArm;
-import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
+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;
 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 IntakeArm intakeArm;
+  public static Photogate photogate;
+  public static CameraFeeds cameraFeeds;
+
+  // 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();
     shooter = new Shooter();
     intakeArm = new IntakeArm();
+    photogate = new Photogate();
+    cameraFeeds = new CameraFeeds();
 
     oi = new OI();
+
+    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 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("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));
+
   }
 
   @Override
@@ -37,18 +84,19 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Scheduler.getInstance().add(new SetLowGear()); // Start each match in low
-                                                   // gear
-    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
-                                                      // of each match.
+    // if intake is front, switch back to shooter as front
+    // this is done on purpose!
+    if (choseIntakeIsFront)
+      driveTrain.toggleFlipped();
 
-    Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
-    // Start testing with intake arm extended TODO remove this
+    cameraFeeds.init();
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+    cameraFeeds.run();
   }
 
 }