Auton changes, and more camera testing (aka plz work)

[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 bb06782c47770182203ece05cf56f676cf9e3e9d..fae134f4a4be9a4632a3b2e1e2cb42ffaa371048 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,16 +1,15 @@
 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.auton.Auton;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
 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;
@@ -19,9 +18,8 @@ public class Robot extends IterativeRobot {
   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() {
@@ -31,77 +29,21 @@ public class Robot extends IterativeRobot {
 
     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 1 Defense Chooser", positionOneDefense);
-    SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
-    SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
-    SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
-    SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
-
+    camera = CameraServer.getInstance();
+    camera.setQuality(5);
+    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 Auton());
   }
 
   @Override
@@ -111,7 +53,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Scheduler.getInstance().add(new SetHighGear());
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override