X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=30926c7af8a9e6b0168b2fa1181e4b59bda65ba0;hb=e2c4d3a5b10fa513a4e4e654a756f2e84eda02d0;hp=d2298119c7988ab2a885b8eadfa107c22eda0c36;hpb=a0ff09b3c93c916ce06ad22e1326867e1c9ca14a;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 d2298119..30926c7a 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.Constants.Auton;
+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.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate;
+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.IterativeRobot;
@@ -12,96 +18,101 @@ public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
-
-  enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
-  };
+  public static IntakeArm intakeArm;
+  public static Photogate photogate;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
   SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
-    oi = new OI();
     shooter = new Shooter();
+    intakeArm = new IntakeArm();
 
-    // initialize all the Sendable Choosers
+    oi = new OI();
+    photogate = new Photogate();
+
+    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();
+  }
 
-    // add options for positions to the positionChooser
-    positionChooser.addDefault("Position 1", 1);
+  private void addPositionChooserOptions() {
+    positionChooser.addDefault("None", 0);
+    positionChooser.addObject("Position 1", 1);
     positionChooser.addObject("Position 2", 2);
     positionChooser.addObject("Position 3", 3);
     positionChooser.addObject("Position 4", 4);
     positionChooser.addObject("Position 5", 5);
+  }
 
-    // add options for defenses into each defense chooser (5)
-    addDefense(positionOneDefense);
-    addDefense(positionTwoDefense);
-    addDefense(positionThreeDefense);
-    addDefense(positionFourDefense);
-    addDefense(positionFiveDefense);
-
-    // send the Sendable Choosers to the Smart Dashboard
-    // 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
-    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);
+  private void addDefensesToAllDefenseSendableChoosers() {
+    addDefenseOptions(positionOneDefense);
+    addDefenseOptions(positionTwoDefense);
+    addDefenseOptions(positionThreeDefense);
+    addDefenseOptions(positionFourDefense);
+    addDefenseOptions(positionFiveDefense);
   }
 
-  private void addDefense(SendableChooser chooser) {
+  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("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
+        + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
+    chooser.addObject("Low Bar" + " Will probably work...", 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);
+    chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
+        Defense.MOAT);
+    chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
+        + Auton.ROCK_WALL_TIME, 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);
+
   }
 
   @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);
+    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();
+
+    if (chosenPosition != 0)
+      Scheduler.getInstance().add(
+          new ChooseStrategy(chosenPosition, chosenDefense));
+
+    // Scheduler.getInstance().add(new TimeDrive(.6, 4));
   }
 
   @Override
@@ -111,11 +122,12 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
+
 }