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 OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+
public static Scaler scaler;
+
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
+ // Gyro stuff
+ private final static double NANOSECONDS_PER_SECOND = 1000000000;
+ short rawValue;
+ public FirebotGyro gyro;
+
+ double degreesIncreased;
+ double degrees;
+
@Override
public void robotInit() {
- driveTrain = new DriveTrain();
- oi = new OI();
+ // driveTrain = new DriveTrain();
+ gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
+ // oi = new OI();
shooter = new Shooter();
scaler = new Scaler();
// and the positions of the defenses from a drop-down menu on the Smart
// Dashboard
// make the Sendable Choosers
- initializeSendableChoosers();
- addPositionChooserOptions();
- addDefensesToAllDefenseSendableChooosers();
- sendSendableChoosersToSmartDashboard();
+ // initializeSendableChoosers();
+ // addPositionChooserOptions();
+ // addDefensesToAllDefenseSendableChooosers();
+ // sendSendableChoosersToSmartDashboard();
}
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();
- }
-
- private void addDefense(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("Drawbridge", Defense.DRAWBRIDGE);
- chooser.addObject("Moat", Defense.MOAT);
- chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
- shooter = new Shooter();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
+
}