X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=c82f09f83336cb4ae7f171e712f86b9b573afc2d;hb=refs%2Fheads%2Fmaster;hp=a8c48643019bffbf7786a505e4264316be539b42;hpb=f56e6ebf87134eccc3b8bb0e1d2529bd6cb061dd;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index a8c4864..c82f09f 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commandgroups.AutonMiddleGear;
+import org.usfirst.frc.team3501.robot.commandgroups.AutonSideGear;
+import org.usfirst.frc.team3501.robot.subsystems.Climber;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
@@ -8,7 +11,9 @@ import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.command.Command;
 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 {
@@ -16,6 +21,10 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private static Climber climber;
+
+  Command autonCommand;
+  SendableChooser autonChooser;
 
   @Override
   public void robotInit() {
@@ -23,12 +32,23 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
+    climber = Climber.getClimber();
+
+    autonChooser = new SendableChooser();
+    autonChooser.addDefault("Middle Gear", new AutonMiddleGear());
+    autonChooser.addObject("Red Boiler Gear",
+        new AutonSideGear("RED", "BOILER"));
+    autonChooser.addObject("Red Retrieval Gear",
+        new AutonSideGear("RED", "RETRIEVAL"));
+    autonChooser.addObject("Blue Boiler Gear",
+        new AutonSideGear("BLUE", "BOILER"));
+    autonChooser.addObject("Blue Retrieval Gear",
+        new AutonSideGear("BLUE", "RETRIEVAL"));
+    SmartDashboard.putData("Autonomous Chooser", autonChooser);
 
     CameraServer server = CameraServer.getInstance();
     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
-
-    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
   }
 
   public static DriveTrain getDriveTrain() {
@@ -47,12 +67,17 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
-  // If the gear values do not match in the left and right piston, then they are
-  // both set to high gear
+  public static Climber getClimber() {
+    return Climber.getClimber();
+  }
+
   @Override
   public void autonomousInit() {
-    driveTrain.setHighGear();
-    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
+    driveTrain.setLowGear();
+
+    // autonCommand = (Command) autonChooser.getSelected();
+    autonCommand = new AutonMiddleGear();
+    Scheduler.getInstance().add(autonCommand);
   }
 
   @Override
@@ -62,26 +87,15 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
+    driveTrain.setHighGear();
   }
 
   @Override
   public void teleopPeriodic() {
-    // driveTrain.printEncoderOutput();
     Scheduler.getInstance().run();
     updateSmartDashboard();
   }
 
-  @Override
-  public void disabledInit() {
-    driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_BRAKE_MODE);
-  }
-  //
-  // @Override
-  // public void disabledPeriodic() {
-  // Scheduler.getInstance().add(new RunFlyWheel(2));
-  // }
-
   public void updateSmartDashboard() {
     SmartDashboard.putNumber("left encode ",
         driveTrain.getLeftEncoderDistance());