package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
-import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
+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.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.I2C;
+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 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;
-
- // Gyro stuff
- short rawValue;
- public GyroClass gyro;
-
- double now;
- double degreesIncreased;
- double degrees;
-
- Rotation rotation;
+ private static SendableChooser frontChooser;
+ private static CameraServer camera;
@Override
public void robotInit() {
- // driveTrain = new DriveTrain();
- gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
- // oi = new OI();
-
+ driveTrain = new DriveTrain();
shooter = new Shooter();
- scaler = new Scaler();
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() {
- 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 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);
- 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);
- }
-
- 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();
+ oi = new OI();
+ camera = CameraServer.getInstance();
+ camera.setQuality(5);
+ camera.startAutomaticCapture("cam0");
}
@Override
public void autonomousInit() {
- Scheduler.getInstance().run();
-
- // get options chosen from drop down menu
- Integer chosenPosition = (Integer) positionChooser.getSelected();
- Integer chosenDefense = 0;
-
- switch (chosenPosition) {
- case 1:
- chosenDefense = (Integer) positionOneDefense.getSelected();
- case 2:
- chosenDefense = (Integer) positionTwoDefense.getSelected();
- case 3:
- chosenDefense = (Integer) positionThreeDefense.getSelected();
- case 4:
- chosenDefense = (Integer) positionFourDefense.getSelected();
- case 5:
- chosenDefense = (Integer) positionFiveDefense.getSelected();
- }
-
- System.out.println("Chosen Position: " + chosenPosition);
- System.out.println("Chosen Defense: " + 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
@Override
public void teleopInit() {
+ Scheduler.getInstance().add(new SetLowGear());
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
- }
-
- public double getZAxisDegreesPerSeconds() {
- double rawValue = (double) 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;
}
}