Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
b378dfef | 3 | import org.usfirst.frc.team3501.robot.Constants.Auton; |
9e9154af HD |
4 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
5 | import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy; | |
eeb6c3d9 | 6 | import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear; |
e2c4d3a5 | 7 | import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate; |
047383c3 | 8 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 9 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
40348cab E |
10 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
11 | ||
38a404b3 KZ |
12 | import edu.wpi.first.wpilibj.IterativeRobot; |
13 | import edu.wpi.first.wpilibj.command.Scheduler; | |
9e9154af HD |
14 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
15 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
38a404b3 KZ |
16 | |
17 | public class Robot extends IterativeRobot { | |
18 | public static OI oi; | |
19 | public static DriveTrain driveTrain; | |
40348cab | 20 | public static Shooter shooter; |
a96fa926 | 21 | public static IntakeArm intakeArm; |
e2c4d3a5 | 22 | public static Photogate photogate; |
3366a59a | 23 | |
9e9154af | 24 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
157ea726 ME |
25 | private static SendableChooser defenseChooser; |
26 | private static SendableChooser frontChooser; | |
27 | boolean choseIntakeIsFront; | |
9e9154af | 28 | |
38a404b3 KZ |
29 | @Override |
30 | public void robotInit() { | |
9742fe2e | 31 | driveTrain = new DriveTrain(); |
40348cab | 32 | shooter = new Shooter(); |
a96fa926 | 33 | intakeArm = new IntakeArm(); |
fab544eb HD |
34 | |
35 | oi = new OI(); | |
e2c4d3a5 | 36 | photogate = new Photogate(); |
9e9154af | 37 | |
de0cd1ce ME |
38 | defenseChooser = new SendableChooser(); |
39 | addDefenseOptions(defenseChooser); | |
40 | SmartDashboard.putData("Defense Chooser", defenseChooser); | |
157ea726 ME |
41 | |
42 | frontChooser = new SendableChooser(); | |
43 | addFrontChooserOptions(); | |
44 | SmartDashboard.putData("Front Chooser", frontChooser); | |
45 | } | |
46 | ||
47 | private void addFrontChooserOptions() { | |
48 | frontChooser.addDefault("Intake is Back", false); | |
49 | frontChooser.addObject("Intake is True", true); | |
9e9154af HD |
50 | } |
51 | ||
52 | private void addDefenseOptions(SendableChooser chooser) { | |
53 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
54 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
b378dfef HD |
55 | chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " " |
56 | + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN); | |
949415d0 | 57 | chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR); |
9e9154af HD |
58 | chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE); |
59 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
b378dfef HD |
60 | chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME, |
61 | Defense.MOAT); | |
de0cd1ce ME |
62 | chooser.addObject( |
63 | "Rock Wall" + Auton.ROCK_WALL_SPEED + " " + Auton.ROCK_WALL_TIME, | |
64 | Defense.ROCK_WALL); | |
c62f7132 | 65 | chooser.addObject("No Auton", Defense.NONE); |
29d59f48 ME |
66 | } |
67 | ||
38a404b3 KZ |
68 | @Override |
69 | public void autonomousInit() { | |
de0cd1ce | 70 | Defense chosenDefense = (Defense) (defenseChooser.getSelected()); |
157ea726 ME |
71 | choseIntakeIsFront = (boolean) frontChooser.getSelected(); |
72 | ||
73 | // if the shooter is not the front (intake is front) - toggle the drivetrain | |
74 | if (choseIntakeIsFront) | |
75 | driveTrain.toggleFlipped(); | |
9e9154af | 76 | |
de0cd1ce | 77 | Scheduler.getInstance().add(new ChooseStrategy(chosenDefense)); |
35e19c59 HD |
78 | |
79 | // Scheduler.getInstance().add(new TimeDrive(.6, 4)); | |
157ea726 | 80 | |
38a404b3 KZ |
81 | } |
82 | ||
83 | @Override | |
84 | public void autonomousPeriodic() { | |
85 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
86 | } |
87 | ||
88 | @Override | |
89 | public void teleopInit() { | |
157ea726 ME |
90 | // if intake is front, switch back to shooter as front |
91 | if (choseIntakeIsFront) | |
92 | driveTrain.toggleFlipped(); | |
93 | ||
eeb6c3d9 | 94 | Scheduler.getInstance().add(new SetLowGear()); |
38a404b3 KZ |
95 | } |
96 | ||
97 | @Override | |
98 | public void teleopPeriodic() { | |
99 | Scheduler.getInstance().run(); | |
1e039ebd E |
100 | } |
101 | ||
38a404b3 | 102 | } |