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 a68c32cc56b948ce46b6b0619dd93263bc16a99a..be58f085bc576b4e902aa884a02877df0ce9611d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,5 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.Auton;
 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;
@@ -20,47 +19,62 @@ public class Robot extends IterativeRobot {
   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.
-  SendableChooser defenseChooser;
+  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();
-    photogate = new Photogate();
 
     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" + Auton.ROUGH_TERRAIN_SPEED + " "
-        + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
-    chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
+    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" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
-        Defense.MOAT);
-    chooser.addObject(
-        "Rock Wall" + Auton.ROCK_WALL_SPEED + " " + Auton.ROCK_WALL_TIME,
-        Defense.ROCK_WALL);
+    chooser.addObject("Moat", Defense.MOAT);
+    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
     chooser.addObject("No Auton", Defense.NONE);
   }
 
   @Override
   public void autonomousInit() {
     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
@@ -70,12 +84,19 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void 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();
+    cameraFeeds.run();
   }
 
 }