X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FRobot.java;h=d2298119c7988ab2a885b8eadfa107c22eda0c36;hb=a0ff09b3c93c916ce06ad22e1326867e1c9ca14a;hp=36ca70bc268a526c02d33f5531c1d8d550fcbe90;hpb=38a404b33adc222b57179884470913cb4c0a011d;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 36ca70bc..d2298119 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,27 +1,112 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+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;
+
+  enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
+  };
+
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
+  SendableChooser positionOneDefense;
+  SendableChooser positionTwoDefense;
+  SendableChooser positionThreeDefense;
+  SendableChooser positionFourDefense;
+  SendableChooser positionFiveDefense;
+  SendableChooser positionChooser;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
+    shooter = new Shooter();
+
+    // initialize all the Sendable Choosers
+    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
+    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);
+
+    // add options for defenses into each defense chooser (5)
+    addDefense(positionOneDefense);
+    addDefense(positionTwoDefense);
+    addDefense(positionThreeDefense);
+    addDefense(positionFourDefense);
+    addDefense(positionFiveDefense);
+
+    // send the Sendable Choosers to the Smart Dashboard
+    // 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
+    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);
+  }
+
+  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);
   }
 
   @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