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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
2947642e | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 7 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
c97fbce2 | 10 | import edu.wpi.first.wpilibj.I2C; |
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11 | import edu.wpi.first.wpilibj.IterativeRobot; |
12 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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13 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
14 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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15 | |
16 | public class Robot extends IterativeRobot { | |
17 | public static OI oi; | |
18 | public static DriveTrain driveTrain; | |
40348cab | 19 | public static Shooter shooter; |
2c9f5abb | 20 | |
02cb494e | 21 | public static Scaler scaler; |
c97fbce2 | 22 | |
a96fa926 | 23 | public static IntakeArm intakeArm; |
200caf63 | 24 | public static DefenseArm defenseArm; |
38a404b3 | 25 | |
88e66b4e | 26 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 27 | SendableChooser positionChooser; |
6947c8a4 | 28 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
e23bfd98 | 29 | positionFourDefense, positionFiveDefense; |
3366a59a | 30 | |
c97fbce2 E |
31 | // Gyro stuff |
32 | private final static double NANOSECONDS_PER_SECOND = 1000000000; | |
33 | short rawValue; | |
a6c9c627 | 34 | public GyroClass gyro; |
c97fbce2 | 35 | |
d06ee698 | 36 | double degreesIncreased; |
c97fbce2 E |
37 | double degrees; |
38 | ||
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39 | @Override |
40 | public void robotInit() { | |
c97fbce2 | 41 | // driveTrain = new DriveTrain(); |
a6c9c627 | 42 | gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68); |
c97fbce2 | 43 | // oi = new OI(); |
2ac0cc17 | 44 | |
40348cab | 45 | shooter = new Shooter(); |
02cb494e | 46 | scaler = new Scaler(); |
a96fa926 | 47 | intakeArm = new IntakeArm(); |
3366a59a | 48 | |
a96fa926 D |
49 | // Sendable Choosers allows the driver to select the position of the |
50 | // robot | |
88e66b4e ME |
51 | // and the positions of the defenses from a drop-down menu on the Smart |
52 | // Dashboard | |
29d59f48 | 53 | // make the Sendable Choosers |
d06ee698 E |
54 | // initializeSendableChoosers(); |
55 | // addPositionChooserOptions(); | |
56 | // addDefensesToAllDefenseSendableChooosers(); | |
57 | // sendSendableChoosersToSmartDashboard(); | |
29d59f48 | 58 | |
3366a59a ME |
59 | } |
60 | ||
6947c8a4 ME |
61 | private void initializeSendableChoosers() { |
62 | positionChooser = new SendableChooser(); | |
63 | positionOneDefense = new SendableChooser(); | |
64 | positionTwoDefense = new SendableChooser(); | |
65 | positionThreeDefense = new SendableChooser(); | |
66 | positionFourDefense = new SendableChooser(); | |
67 | positionFiveDefense = new SendableChooser(); | |
68 | } | |
69 | ||
29d59f48 ME |
70 | private void addPositionChooserOptions() { |
71 | positionChooser.addDefault("Position 1", 1); | |
72 | positionChooser.addObject("Position 2", 2); | |
73 | positionChooser.addObject("Position 3", 3); | |
74 | positionChooser.addObject("Position 4", 4); | |
75 | positionChooser.addObject("Position 5", 5); | |
76 | } | |
77 | ||
78 | private void addDefensesToAllDefenseSendableChooosers() { | |
79 | addDefenseOptions(positionOneDefense); | |
80 | addDefenseOptions(positionTwoDefense); | |
81 | addDefenseOptions(positionThreeDefense); | |
82 | addDefenseOptions(positionFourDefense); | |
83 | addDefenseOptions(positionFiveDefense); | |
84 | } | |
85 | ||
86 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
87 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
88 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
89 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
90 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
91 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
92 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
93 | chooser.addObject("Moat", Defense.MOAT); | |
94 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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95 | } |
96 | ||
29d59f48 ME |
97 | private void sendSendableChoosersToSmartDashboard() { |
98 | SmartDashboard.putData("PositionChooser", positionChooser); | |
99 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
100 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
101 | SmartDashboard.putData("Position Three Defense Chooser", | |
102 | positionThreeDefense); | |
e23bfd98 E |
103 | SmartDashboard.putData("Position Four Defense Chooser", |
104 | positionFourDefense); | |
105 | SmartDashboard.putData("Position Five Defense Chooser", | |
106 | positionFiveDefense); | |
d06ee698 | 107 | |
e23bfd98 E |
108 | SmartDashboard.putData("Position Four Defense Chooser", |
109 | positionFourDefense); | |
110 | SmartDashboard.putData("Position Five Defense Chooser", | |
111 | positionFiveDefense); | |
112 | ||
113 | shooter = new Shooter(); | |
d06ee698 | 114 | |
29d59f48 ME |
115 | } |
116 | ||
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117 | @Override |
118 | public void autonomousInit() { | |
3366a59a ME |
119 | Scheduler.getInstance().run(); |
120 | ||
121 | // get options chosen from drop down menu | |
122 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 123 | Integer chosenDefense = 0; |
3366a59a | 124 | |
33981335 ME |
125 | switch (chosenPosition) { |
126 | case 1: | |
3366a59a | 127 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 128 | case 2: |
3366a59a | 129 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 130 | case 3: |
3366a59a | 131 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 132 | case 4: |
3366a59a | 133 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 134 | case 5: |
3366a59a | 135 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 136 | } |
3366a59a ME |
137 | |
138 | System.out.println("Chosen Position: " + chosenPosition); | |
139 | System.out.println("Chosen Defense: " + chosenDefense); | |
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140 | } |
141 | ||
142 | @Override | |
143 | public void autonomousPeriodic() { | |
144 | Scheduler.getInstance().run(); | |
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145 | } |
146 | ||
147 | @Override | |
148 | public void teleopInit() { | |
149 | } | |
150 | ||
151 | @Override | |
152 | public void teleopPeriodic() { | |
153 | Scheduler.getInstance().run(); | |
38a404b3 | 154 | } |
d06ee698 | 155 | |
38a404b3 | 156 | } |