fix Robot.java bug: intantiate IntakeArm subsystem, not constants

[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 5d27ce0c11ec4969132ba283b788c4f4c4650376..f4001774cf4e607cfcbb9aa3e1763557c1cf0eda 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,39 +7,42 @@ 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;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
-  public static OI oi;
-  public static DriveTrain driveTrain;
-  public static Shooter shooter;
-
-  public static Scaler scaler;
-
-  public static IntakeArm intakeArm;
-  public static DefenseArm defenseArm;
+       public static OI oi;
+       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;
 
-  // Gyro stuff
-  public GyroLib gyro;
-
   @Override
   public void robotInit() {
-    gyro = new GyroLib(I2C.Port.kOnboard, false);
-
+    driveTrain = new DriveTrain();
+    oi = new OI();
     shooter = new Shooter();
     scaler = new Scaler();
     defenseArm = new DefenseArm();
     intakeArm = new IntakeArm();
 
+    // 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
+    // make the Sendable Choosers
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChooosers();
+    sendSendableChoosersToSmartDashboard();
+
   }
 
   private void initializeSendableChoosers() {
@@ -88,14 +91,6 @@ public class Robot extends IterativeRobot {
         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
@@ -130,17 +125,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    gyro.start();
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
-
 }