challenge-bot.com Git - 3501/autonomous-driving/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 org.usfirst.frc.team3501.robot.commands.ExampleCommand;
   9 import org.usfirst.frc.team3501.robot.subsystems.ExampleSubsystem;
  10 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  11 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  12
  13 /**
  14  * The VM is configured to automatically run this class, and to call the
  15  * functions corresponding to each mode, as described in the IterativeRobot
  16  * documentation. If you change the name of this class or the package after
  17  * creating this project, you must also update the manifest file in the resource
  18  * directory.
  19  */
  20 public class Robot extends IterativeRobot {
  21
  22         public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
  23         public static OI oi;
  24
  25     Command autonomousCommand;
  26     SendableChooser chooser;
  27
  28     /**
  29      * This function is run when the robot is first started up and should be
  30      * used for any initialization code.
  31      */
  32     public void robotInit() {
  33                 oi = new OI();
  34         chooser = new SendableChooser();
  35         chooser.addDefault("Default Auto", new ExampleCommand());
  36 //        chooser.addObject("My Auto", new MyAutoCommand());
  37         SmartDashboard.putData("Auto mode", chooser);
  38     }
  39
  40         /**
  41      * This function is called once each time the robot enters Disabled mode.
  42      * You can use it to reset any subsystem information you want to clear when
  43          * the robot is disabled.
  44      */
  45     public void disabledInit(){
  46
  47     }
  48
  49         public void disabledPeriodic() {
  50                 Scheduler.getInstance().run();
  51         }
  52
  53         /**
  54          * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
  55          * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
  56          * Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
  57          * below the Gyro
  58          *
  59          * You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
  60          * or additional comparisons to the switch structure below with additional strings & commands.
  61          */
  62     public void autonomousInit() {
  63         autonomousCommand = (Command) chooser.getSelected();
  64
  65                 /* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
  66                 switch(autoSelected) {
  67                 case "My Auto":
  68                         autonomousCommand = new MyAutoCommand();
  69                         break;
  70                 case "Default Auto":
  71                 default:
  72                         autonomousCommand = new ExampleCommand();
  73                         break;
  74                 } */
  75
  76         // schedule the autonomous command (example)
  77         if (autonomousCommand != null) autonomousCommand.start();
  78     }
  79
  80     /**
  81      * This function is called periodically during autonomous
  82      */
  83     public void autonomousPeriodic() {
  84         Scheduler.getInstance().run();
  85     }
  86
  87     public void teleopInit() {
  88                 // This makes sure that the autonomous stops running when
  89         // teleop starts running. If you want the autonomous to
  90         // continue until interrupted by another command, remove
  91         // this line or comment it out.
  92         if (autonomousCommand != null) autonomousCommand.cancel();
  93     }
  94
  95     /**
  96      * This function is called periodically during operator control
  97      */
  98     public void teleopPeriodic() {
  99         Scheduler.getInstance().run();
 100     }
 101
 102     /**
 103      * This function is called periodically during test mode
 104      */
 105     public void testPeriodic() {
 106         LiveWindow.run();
 107     }
 108 }