package org.usfirst.frc.team3501.robot;
-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.driving.TimeDrive;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
public static OI oi;
public static IntakeArm intakeArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
- SendableChooser positionChooser;
- SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
+ private static SendableChooser frontChooser;
+ private static CameraServer camera;
@Override
public void robotInit() {
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();
- }
-
- 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 addDefensesToAllDefenseSendableChoosers() {
- 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("Low Bar", Defense.LOW_BAR);
- chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
- 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 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);
-
+ camera = CameraServer.getInstance();
+ camera.setQuality(25);
+ camera.startAutomaticCapture("cam0");
}
@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));
+ //
+ // Scheduler.getInstance().add(new
+ // MoveIntakeArm(Constants.IntakeArm.RETRACT));
+ // Scheduler.getInstance().add(new TimeDrive(1, .6));
+ // Scheduler.getInstance().add(new WaitCommand(1));
+ // Scheduler.getInstance().add(new
+ // MoveIntakeArm(Constants.IntakeArm.EXTEND));
+ Scheduler.getInstance().add(new TimeDrive(8, -.8));
}
@Override
@Override
public void teleopInit() {
- Scheduler.getInstance().add(new SetHighGear());
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override