X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=5bc3c0123be8ca2d5354bdfd733aae0965e5dbdd;hb=93cba28f45a25fcf798bc4c74e8cfc9ab8a15be1;hp=7678a7289cc4506c66670c42418b5292fa9a0ef5;hpb=fab544eb2395a8aa847abc1890bc635e5ba63a7c;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 7678a728..5bc3c012 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,20 +1,29 @@
 package org.usfirst.frc.team3501.robot;
 
+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.MoveIntakeArm;
-import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 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;
 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 IntakeArm intakeArm;
+  // public static Photogate photogate;
+
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
+  SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
@@ -23,11 +32,86 @@ public class Robot extends IterativeRobot {
     intakeArm = new IntakeArm();
 
     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();
+  }
+
+  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);
+  }
+
+  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" + 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" + 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();
+    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
@@ -37,13 +121,7 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    Scheduler.getInstance().add(new SetLowGear()); // Start each match in low
-                                                   // gear
-    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
-                                                      // of each match.
-
-    Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
-    // Start testing with intake arm extended TODO remove this
+    Scheduler.getInstance().add(new SetLowGear());
   }
 
   @Override