package org.usfirst.frc.team3501.robot;
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.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 DefenseArm defenseArm;
++ public static IntakeArm intakeArm;
+
+ // Sendable Choosers send a drop down menu to the Smart Dashboard.
+ SendableChooser positionChooser;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
++ positionFourDefense,
++ positionFiveDefense;
+
+ @Override
+ public void robotInit() {
+ driveTrain = new DriveTrain();
+ oi = new OI();
+ shooter = new Shooter();
+ scaler = new Scaler();
- defenseArm = new DefenseArm();
++ intakeArm = new IntakeArm();
+
- // Sendable Choosers allows the driver to select the position of the robot
++ // 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);
++ 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();
+
+ }
}
private CANTalon defenseHand;
private double hookHeight;
private double footHeight;
- private double[] potAngles = { 0, 45, 90 };
+ private double[] potHandAngles;
+ private double[] potArmAngles;
+
// angles corresponding to pre-determined heights we will need
public DefenseArm() {
defenseArm = new CANTalon(Constants.DefenseArm.ARM_PORT);
defenseHand = new CANTalon(Constants.DefenseArm.HAND_PORT);
+ potHandAngles = createHandPotArray();
+ potArmAngles = createArmPotArray();
}
public double getArmPotAngle() {
* @return
* the angle of the arm corresponding to that arm location
*/
- public double getLevelValue(int level) {
- if (level >= potAngles.length)
- return potAngles[level];
- else
- return 0;
+ public double getAngleForHandLocation(int desiredArmLocation) {
+ return potHandAngles[desiredArmLocation];
+ }
+
+ public double getAngleForArmLocation(int desiredArmLocation) {
+ return potArmAngles[desiredArmLocation];
+ }
+
+ public double[] createHandPotArray() {
+ double[] arr = new double[3];
+
+ for (int i = 0; i < 3; i++) {
+ arr[i] = 45 * i;
+ }
+ return arr;
+ }
+
+ public double[] createArmPotArray() {
+ double[] arr = new double[3];
+
+ for (int i = 0; i < 3; i++) {
+ arr[i] = 45 * i;
+ }
+ return arr;
}
/***
defenseHand.set(speed);
}
+ // TODO: figure out if measurements are all in inches
+ public double getArmHorizontalDisplacement() {
+ double armHorizontalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ * Math.cos(getArmPotAngle());
+ double handHorizontalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ * Math.cos(getHandPotAngle());
+ return (armHorizontalDisplacement + handHorizontalDisplacement);
+ }
+
+ public double getArmVerticalDisplacement() {
+ double armMounted = Constants.DefenseArm.ARM_MOUNTED_HEIGHT;
+ double armVerticalDisplacement = Constants.DefenseArm.ARM_LENGTH
+ * Math.sin(getArmPotAngle());
+ double handVerticalDisplacement = Constants.DefenseArm.HAND_LENGTH
+ * Math.sin(getHandPotAngle());
+ return (armMounted + armVerticalDisplacement + handVerticalDisplacement);
+ }
+
+ public boolean isOutsideRange() {
+ if (getArmHorizontalDisplacement() < 15)
+ return false;
+ return true;
+ }
+
@Override
protected void initDefaultCommand() {
}