X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=d10b2c5fdb0ac7ac2541cfb5ea23911d9e94c6d0;hb=f8bfcc62a43e76e355b581152ef9710c2fb8cd58;hp=1111fea6673dd171ffb33207b47844f4a53e661f;hpb=571a0e2a38e69a5f69c0a725d1da6600e67e9afb;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 1111fea6..d10b2c5f 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,33 +1,20 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
-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;
 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;
-  public static DefenseArm defenseArm;
-
-  // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
@@ -35,93 +22,12 @@ public class Robot extends IterativeRobot {
     oi = new OI();
 
     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
@@ -135,6 +41,9 @@ public class Robot extends IterativeRobot {
                                                    // gear
     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
                                                       // of each match.
+
+    Scheduler.getInstance().add(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
+    // Start testing with intake arm extended TODO remove this
   }
 
   @Override