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=fbda4afcadc22c0cd97050c93f67753183c6ca7d;hpb=e23bfd98ca3a50ac57580009ee012690d9347780;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 fbda4afc..8beb817d 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,7 @@
 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;
@@ -18,6 +19,7 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
+
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
@@ -30,19 +32,15 @@ public class Robot extends IterativeRobot {
   public void robotInit() {
     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
-    initializeSendableChoosers();
-    addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChooosers();
-    sendSendableChoosersToSmartDashboard();
+
+    // shooter = new Shooter();
+    // scaler = new Scaler();
+    // intakeArm = new IntakeArm();
+    //
+    // initializeSendableChoosers();
+    // addPositionChooserOptions();
+    // addDefensesToAllDefenseSendableChoosers();
+    // sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -63,7 +61,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -92,51 +90,61 @@ public class Robot extends IterativeRobot {
         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();
-
   }
+
 }