X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=a9a878d22045adc794f5543b5b9e0808f78af893;hb=9742fe2ec09da63a719afbb635894e9bacab3bb8;hp=6b9a28e720eaee68932c6ab9dcb6046eb48d7702;hpb=e13d2293a5775dc03699d668bf9839f86b7f3f69;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 6b9a28e7..a9a878d2 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,8 +1,13 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.Constants.Defense;
+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;
@@ -13,46 +18,73 @@ public class Robot extends IterativeRobot {
   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 Scaler scaler;
 
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
+  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();
+
+  }
 
-    // intialize all the Sendable Choosers
+  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);
+  }
+
+  private void addDefensesToAllDefenseSendableChoosers() {
+    addDefenseOptions(positionOneDefense);
+    addDefenseOptions(positionTwoDefense);
+    addDefenseOptions(positionThreeDefense);
+    addDefenseOptions(positionFourDefense);
+    addDefenseOptions(positionFiveDefense);
+  }
 
-    // add options for defenses into each defense chooser (5)
-    addDefense(positionOneDefense);
-    addDefense(positionTwoDefense);
-    addDefense(positionThreeDefense);
-    addDefense(positionFourDefense);
-    addDefense(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);
+  }
 
-    // send the Sendable Choosers to the Smart Dashboard
+  private void sendSendableChoosersToSmartDashboard() {
     SmartDashboard.putData("PositionChooser", positionChooser);
     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
@@ -62,17 +94,14 @@ public class Robot extends IterativeRobot {
         positionFourDefense);
     SmartDashboard.putData("Position Five Defense Chooser",
         positionFiveDefense);
-  }
 
-  private void addDefense(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);
+    SmartDashboard.putData("Position Four Defense Chooser",
+        positionFourDefense);
+    SmartDashboard.putData("Position Five Defense Chooser",
+        positionFiveDefense);
+
+    shooter = new Shooter();
+
   }
 
   @Override
@@ -83,16 +112,18 @@ public class Robot extends IterativeRobot {
     Integer chosenPosition = (Integer) positionChooser.getSelected();
     Integer chosenDefense = 0;
 
-    if (chosenPosition == 1)
+    switch (chosenPosition) {
+    case 1:
       chosenDefense = (Integer) positionOneDefense.getSelected();
-    if (chosenPosition == 2)
+    case 2:
       chosenDefense = (Integer) positionTwoDefense.getSelected();
-    if (chosenPosition == 3)
+    case 3:
       chosenDefense = (Integer) positionThreeDefense.getSelected();
-    if (chosenPosition == 4)
+    case 4:
       chosenDefense = (Integer) positionFourDefense.getSelected();
-    if (chosenPosition == 5)
+    case 5:
       chosenDefense = (Integer) positionFiveDefense.getSelected();
+    }
 
     System.out.println("Chosen Position: " + chosenPosition);
     System.out.println("Chosen Defense: " + chosenDefense);
@@ -105,16 +136,16 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    System.out.println("running teleopInit");
+
+    gyro.start();
+
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
 
-  }
-
-  public void operate() {
+    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 
   }