X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=8fd099fb2999081e999638cb08d2e46b9872297f;hb=4d4bcc688036e2dfeb20824d91b8a9972c20ecf4;hp=9d97660caace18d282b4bef5fdf54e6f2503b47c;hpb=e47f08624fbbed80748c806f54fa79112bac8724;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 9d97660c..8fd099fb 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,130 +1,151 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.sensors.GyroLib;
+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.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 Scaler scaler;
-	public static IntakeArm intakeArm;
-
-	// Sendable Choosers send a drop down menu to the Smart Dashboard.
-	SendableChooser positionChooser;
-	SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense,
-			positionFiveDefense;
-
-	@Override
-	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();
-
-	}
-
-	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("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 addDefensesToAllDefenseSendableChooosers() {
-		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", Defense.ROUGH_TERRAIN);
-		chooser.addObject("Low Bar", Defense.LOW_BAR);
-		chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
-		chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
-		chooser.addObject("Moat", Defense.MOAT);
-		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);
-	}
-
-	@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);
-	}
-
-	@Override
-	public void autonomousPeriodic() {
-		Scheduler.getInstance().run();
-	}
-
-	@Override
-	public void teleopInit() {
-	}
-
-	@Override
-	public void teleopPeriodic() {
-		Scheduler.getInstance().run();
-
-	}
+  public static OI oi;
+  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 positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
+
+  // Gyro stuff
+  public GyroLib gyro;
+
+  @Override
+  public void robotInit() {
+    driveTrain = new DriveTrain();
+    oi = new OI();
+    gyro = new GyroLib(I2C.Port.kOnboard, false);
+
+    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();
+  }
+
+  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);
+  }
+
+  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", Defense.ROUGH_TERRAIN);
+    chooser.addObject("Low Bar", Defense.LOW_BAR);
+    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
+    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+    chooser.addObject("Moat", Defense.MOAT);
+    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;
+
+    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();
+  }
+
+  @Override
+  public void teleopInit() {
+
+    gyro.start();
+
+  }
+
+  @Override
+  public void teleopPeriodic() {
+    Scheduler.getInstance().run();
+
+    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
+
+  }
+
 }