Use GyroClass and currently using method getDegrees in teleopPeriodic

[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 37b3c24671f8b6c96d8e879c1d53d756729c8dba..ce4d31d605a64e9e6d3fe1723ce221558974fc84 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,9 +1,13 @@
 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;
@@ -14,49 +18,49 @@ public class Robot extends IterativeRobot {
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
+  public static Scaler scaler;
+  double then;
+  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 GyroClass gyro;
 
-    initializeSendableChoosers();
+  double now;
+  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);
+  Rotation rotation;
+
+  @Override
+  public void robotInit() {
+    // driveTrain = new DriveTrain();
+    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
+    // 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();
+    defenseArm = new DefenseArm();
+    intakeArm = new IntakeArm();
 
-    // send the Sendable Choosers to the Smart Dashboard
     // 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();
@@ -66,7 +70,23 @@ public class Robot extends IterativeRobot {
     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);
@@ -77,6 +97,24 @@ public class Robot extends IterativeRobot {
     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();
@@ -114,6 +152,38 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
+  }
+
+  public double getZAxisDegreesPerSeconds() {
+    double rawValue = gyro.getRotationZ() / 14.375;
+    return rawValue;
+  }
 
+  public void initializeGyro() {
+    degrees = 0;
+    then = System.nanoTime() / 1000000000.0;
+    gyro.reset();
+    gyro.initialize();
+    System.out.println("Testing Gyro Init");
   }
+
+  public void addZAxisDegrees() {
+    double degreesRead = getZAxisDegreesPerSeconds();
+    now = System.nanoTime();
+    now = now / (1000000000.0);
+    double differenceInTime = now - then;
+    then = now;
+    degreesIncreased = differenceInTime * degreesRead;
+
+    // 0.0 = register
+    // + 1.0 is the formula constant
+    //
+    degrees += degreesIncreased;
+
+  }
+
+  public double getDegrees() {
+    return degrees;
+  }
+
 }