X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=8beb817d189bba11dd761c6f2f3da5ffa05a60a2;hb=a28e24c71f76b39e7ab73fb3e8932acb0c694ae8;hp=63b18399873f930b0df50693438707e1fd325007;hpb=91aac7a6a856f2bd95383bcaf845704192d7a2a8;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 63b18399..8beb817d 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,11 @@
 package org.usfirst.frc.team3501.robot;
 
 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.IterativeRobot;
@@ -14,58 +18,58 @@ public class Robot extends IterativeRobot {
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
+  public static Scaler scaler;
+
+  public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
+
   // 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();
 
-    // initialize all the Sendable Choosers
+    // shooter = new Shooter();
+    // scaler = new Scaler();
+    // intakeArm = new IntakeArm();
+    //
+    // 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
+  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);
+  }
 
-    // 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);
@@ -76,43 +80,71 @@ public class Robot extends IterativeRobot {
     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();
+
+  }
+
   @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);
+    // // get options chosen from drop down menu
+    // Integer chosenPosition = (Integer) positionChooser.getSelected();
+    // Integer chosenDefense = 0;
+    //
+    // if (chosenPosition == 1)
+    // chosenDefense = (Integer) positionOneDefense.getSelected();
+    // else if (chosenPosition == 2)
+    // chosenDefense = (Integer) positionTwoDefense.getSelected();
+    // else if (chosenPosition == 3)
+    // chosenDefense = (Integer) positionThreeDefense.getSelected();
+    // else if (chosenPosition == 4)
+    // chosenDefense = (Integer) positionFourDefense.getSelected();
+    // else if (chosenPosition == 5)
+    // chosenDefense = (Integer) positionFiveDefense.getSelected();
+    //
+    // System.out.println("Chosen Position: " + chosenPosition);
+    // System.out.println("Chosen Defense: " + chosenDefense);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
+    // 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
   public void teleopInit() {
+    Scheduler.getInstance().add(new JoystickDrive());
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
+
 }