From: Shivani Ghanta Date: Sat, 6 Feb 2016 22:54:57 +0000 (-0800) Subject: fix Robot.java bug: intantiate IntakeArm subsystem, not constants X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=e47f08624fbbed80748c806f54fa79112bac8724;p=3501%2Fstronghold-2016 fix Robot.java bug: intantiate IntakeArm subsystem, not constants --- diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 051aac62..9d97660c 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot; import org.usfirst.frc.team3501.robot.Constants.Defense; 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; @@ -11,119 +12,119 @@ 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; - - // 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(); - - // 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 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(); + + } } diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java index 8f19f39a..7dbabcb4 100755 --- a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java +++ b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java @@ -1,18 +1,25 @@ package org.usfirst.frc.team3501.robot.commands; +import org.usfirst.frc.team3501.robot.Robot; + import edu.wpi.first.wpilibj.command.Command; public class MoveIntakeArm extends Command { public MoveIntakeArm() { + requires(Robot.intakeArm); } @Override protected void initialize() { + Robot.intakeArm.getArmAngle(); } @Override protected void execute() { + if (Robot.intakeArm.getArmVoltage() == 1) { + + } } @Override