X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=1f86b9bcf71889f6d610a76a737a211a0ce58ea5;hb=b3bdd589f32d9c152d05388ae3ad0d9e56ec833c;hp=425e6704ae5e2170bcefe31c57d7899047c86ea4;hpb=1e039ebdf71f746dd2fb21f7bcf811d4d80ac3fa;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 425e6704..1f86b9bc 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,14 +1,14 @@
 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.commands.driving.JoystickDrive;
 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.Compressor;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -20,45 +20,31 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-  double then;
 
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
+  public static Compressor compressor;
+
   // 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;
-
   @Override
   public void robotInit() {
-    // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
-    // oi = new OI();
+    driveTrain = new DriveTrain();
+    oi = new OI();
 
-    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
+    // shooter = new Shooter();
+    // scaler = new Scaler();
+    // intakeArm = new IntakeArm();
+    //
     // initializeSendableChoosers();
     // addPositionChooserOptions();
-    // addDefensesToAllDefenseSendableChooosers();
+    // addDefensesToAllDefenseSendableChoosers();
     // sendSendableChoosersToSmartDashboard();
+    compressor = new Compressor();
 
   }
 
@@ -79,7 +65,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -122,25 +108,14 @@ public class Robot extends IterativeRobot {
   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 DriveDistance(24, 5));
+    // Scheduler.getInstance().add(new DriveForTime(2, 0.3));
+    // Scheduler.getInstance().add(new TurnForAngle(90, 5));
+    // Scheduler.getInstance().add(
+    // new TurnForTime(3, Constants.Direction.RIGHT, 0.3));
+    // Scheduler.getInstance().add(
+    // new TurnForTime(3, Constants.Direction.LEFT, 0.3));
+    // Scheduler.getInstance().add(new Turn180());
   }
 
   @Override
@@ -150,44 +125,16 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+
+    Scheduler.getInstance().add(new JoystickDrive());
+    compressor.start();
+    driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
+    driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
   }
 
   @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;
   }
 
 }