challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1
   2 package org.usfirst.frc.team3501.robot;
   3
   4 import edu.wpi.first.wpilibj.IterativeRobot;
   5 import edu.wpi.first.wpilibj.command.Command;
   6 import edu.wpi.first.wpilibj.command.Scheduler;
   7 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
   8 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  10
  11 import org.usfirst.frc.team3501.robot.autons.*;
  12 import org.usfirst.frc.team3501.robot.subsystems.*;
  13
  14 public class Robot extends IterativeRobot {
  15
  16         public static Drivetrain drivetrain;
  17         public static Arm arm;
  18         public static Claw claw;
  19
  20         public static Pneumatics pneumatics;
  21
  22         public static OI oi;
  23
  24         private SendableChooser autoChooser;
  25
  26     private Command autonomousCommand;
  27
  28     public void robotInit() {
  29                 oi = new OI();
  30
  31                 drivetrain = new Drivetrain();
  32                 arm        = new Arm();
  33                 claw       = new Claw();
  34
  35                 pneumatics = new Pneumatics();
  36
  37                 chooseAuto();
  38     }
  39
  40         public void disabledPeriodic() {
  41                 Scheduler.getInstance().run();
  42         }
  43
  44     public void autonomousInit() {
  45         pneumatics.start();
  46
  47         autonomousCommand = (Command) autoChooser.getSelected();
  48         autonomousCommand.start();
  49     }
  50
  51     public void autonomousPeriodic() {
  52         Scheduler.getInstance().run();
  53     }
  54
  55     public void teleopInit() {
  56         pneumatics.start();
  57
  58         autonomousCommand.cancel();
  59     }
  60
  61     public void teleopPeriodic() {
  62         Scheduler.getInstance().run();
  63     }
  64
  65     public void testPeriodic() {
  66         LiveWindow.run();
  67     }
  68
  69     public void disabledInit() {
  70         pneumatics.stop();
  71     }
  72
  73     private void chooseAuto() {
  74         autoChooser = new SendableChooser();
  75
  76         autoChooser.addDefault("Drive over step", new DriveOverStep());
  77         autoChooser.addObject("Drive past step",  new DrivePastStep());
  78
  79         SmartDashboard.putData("Auto Mode", autoChooser);
  80     }
  81 }