big refactor of command/commandbase/commandgroup. also add auton read from file.

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index b99f059d9aaa77085ca6381d27fd609061d0d9fb..532d25415fb7b47fc56b7fd66d968eba63b58cb2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -22,8 +22,9 @@ public class Robot extends IterativeRobot {
 
        public static OI oi;
 
-       private SendableChooser autoChooser;
+       public static AutonData autonData;
 
+       private SendableChooser autonChooser;
     private Command autonomousCommand;
 
     public void robotInit() {
@@ -35,6 +36,8 @@ public class Robot extends IterativeRobot {
 
                pneumatics = new Pneumatics();
 
+               autonData = new AutonData();
+
                chooseAuto();
     }
 
@@ -45,7 +48,9 @@ public class Robot extends IterativeRobot {
     public void autonomousInit() {
         schedule(new TurnOnCompressor());
 
-        autonomousCommand = (Command) autoChooser.getSelected();
+        autonData.update();
+
+        autonomousCommand = (Command) autonChooser.getSelected();
         autonomousCommand.start();
     }
 
@@ -68,13 +73,13 @@ public class Robot extends IterativeRobot {
     }
 
     private void chooseAuto() {
-        autoChooser = new SendableChooser();
+        autonChooser = new SendableChooser();
 
-        autoChooser.addDefault("Pick up container", new ContainerOverStep());
-        autoChooser.addObject("Drive over step",    new DriveOverStep());
-        autoChooser.addObject("Drive past step",    new DrivePastStep());
+        autonChooser.addDefault("Pick up container", new ContainerOverStep());
+        autonChooser.addObject("Drive over step",    new DriveOverStep());
+        autonChooser.addObject("Drive past step",    new DrivePastStep());
 
-        SmartDashboard.putData("Auto Mode", autoChooser);
+        SmartDashboard.putData("Auto Mode", autonChooser);
     }
 
     private void schedule(Command c) {