package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
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;
public static DriveTrain driveTrain;
public static Shooter shooter;
+ public static Scaler scaler;
+
+ public static IntakeArm intakeArm;
+ public static DefenseArm defenseArm;
+
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
- @Override
- public void robotInit() {
- driveTrain = new DriveTrain();
- oi = new OI();
- shooter = new Shooter();
+ // Gyro stuff
+ private final static double NANOSECONDS_PER_SECOND = 1000000000;
+ short rawValue;
+ public FirebotGyro gyro;
- initializeSendableChoosers();
+ double degreesIncreased;
+ double degrees;
- // 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);
+ @Override
+ public void robotInit() {
+ // driveTrain = new DriveTrain();
+ gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ // oi = new OI();
- // add options for defenses into each defense chooser (5)
- addDefense(positionOneDefense);
- addDefense(positionTwoDefense);
- addDefense(positionThreeDefense);
- addDefense(positionFourDefense);
- addDefense(positionFiveDefense);
+ shooter = new Shooter();
+ scaler = new Scaler();
+ intakeArm = new IntakeArm();
- // send the Sendable Choosers to the Smart Dashboard
- // Sendable Choosers allows the driver to select the position of the robot
+ // Sendable Choosers allows the driver to select the position of the
+ // robot
// and the positions of the defenses from a drop-down menu on 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);
+ // make the Sendable Choosers
+ // initializeSendableChoosers();
+ // addPositionChooserOptions();
+ // addDefensesToAllDefenseSendableChooosers();
+ // sendSendableChoosersToSmartDashboard();
+
}
- // initialize all the Sendable Choosers
private void initializeSendableChoosers() {
positionChooser = new SendableChooser();
positionOneDefense = new SendableChooser();
positionFiveDefense = new SendableChooser();
}
- private void addDefense(SendableChooser chooser) {
+ 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);
+ }
+
+ private void addDefensesToAllDefenseSendableChooosers() {
+ addDefenseOptions(positionOneDefense);
+ addDefenseOptions(positionTwoDefense);
+ addDefenseOptions(positionThreeDefense);
+ addDefenseOptions(positionFourDefense);
+ addDefenseOptions(positionFiveDefense);
+ }
+
+ 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("Rock Wall", Defense.ROCK_WALL);
}
+ private void sendSendableChoosersToSmartDashboard() {
+ 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);
+
+ SmartDashboard.putData("Position Four Defense Chooser",
+ positionFourDefense);
+ SmartDashboard.putData("Position Five Defense Chooser",
+ positionFiveDefense);
+
+ shooter = new Shooter();
+
+ }
+
@Override
public void autonomousInit() {
Scheduler.getInstance().run();
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
+
}