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.SetHighGear;
+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;
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.
- SendableChooser positionChooser;
- SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
+ 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();
- initializeSendableChoosers();
- addPositionChooserOptions();
- addDefensesToAllDefenseSendableChoosers();
- sendSendableChoosersToSmartDashboard();
- }
-
- private void initializeSendableChoosers() {
- positionChooser = new SendableChooser();
- positionOneDefense = new SendableChooser();
- positionTwoDefense = new SendableChooser();
- positionThreeDefense = new SendableChooser();
- positionFourDefense = new SendableChooser();
- positionFiveDefense = new SendableChooser();
- }
+ defenseChooser = new SendableChooser();
+ addDefenseOptions(defenseChooser);
+ SmartDashboard.putData("Defense Chooser", defenseChooser);
- private void addPositionChooserOptions() {
- 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);
+ frontChooser = new SendableChooser();
+ addFrontChooserOptions();
+ SmartDashboard.putData("Front Chooser", frontChooser);
}
- private void addDefensesToAllDefenseSendableChoosers() {
- addDefenseOptions(positionOneDefense);
- addDefenseOptions(positionTwoDefense);
- addDefenseOptions(positionThreeDefense);
- addDefenseOptions(positionFourDefense);
- addDefenseOptions(positionFiveDefense);
+ private void addFrontChooserOptions() {
+ frontChooser.addDefault("Intake is Back", false);
+ frontChooser.addObject("Intake is True", true);
}
private void addDefenseOptions(SendableChooser chooser) {
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 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);
-
+ chooser.addObject("No Auton", Defense.NONE);
}
@Override
public void autonomousInit() {
- // get options chosen from drop down menu
- Integer chosenPosition = (Integer) positionChooser.getSelected();
- 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();
-
- Scheduler.getInstance().add(
- new ChooseStrategy(chosenPosition, chosenDefense));
+ 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
@Override
public void teleopInit() {
- Scheduler.getInstance().add(new SetHighGear());
+ // 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();
}
}