Commit | Line | Data |
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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 | 31 | // Gyro stuff |
da6933e2 | 32 | public GyroLib gyro; |
c97fbce2 | 33 | |
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34 | @Override |
35 | public void robotInit() { | |
da6933e2 | 36 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
2ac0cc17 | 37 | |
40348cab | 38 | shooter = new Shooter(); |
02cb494e | 39 | scaler = new Scaler(); |
a96fa926 | 40 | intakeArm = new IntakeArm(); |
3366a59a | 41 | |
3366a59a ME |
42 | } |
43 | ||
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44 | private void initializeSendableChoosers() { |
45 | positionChooser = new SendableChooser(); | |
46 | positionOneDefense = new SendableChooser(); | |
47 | positionTwoDefense = new SendableChooser(); | |
48 | positionThreeDefense = new SendableChooser(); | |
49 | positionFourDefense = new SendableChooser(); | |
50 | positionFiveDefense = new SendableChooser(); | |
51 | } | |
52 | ||
29d59f48 ME |
53 | private void addPositionChooserOptions() { |
54 | positionChooser.addDefault("Position 1", 1); | |
55 | positionChooser.addObject("Position 2", 2); | |
56 | positionChooser.addObject("Position 3", 3); | |
57 | positionChooser.addObject("Position 4", 4); | |
58 | positionChooser.addObject("Position 5", 5); | |
59 | } | |
60 | ||
61 | private void addDefensesToAllDefenseSendableChooosers() { | |
62 | addDefenseOptions(positionOneDefense); | |
63 | addDefenseOptions(positionTwoDefense); | |
64 | addDefenseOptions(positionThreeDefense); | |
65 | addDefenseOptions(positionFourDefense); | |
66 | addDefenseOptions(positionFiveDefense); | |
67 | } | |
68 | ||
69 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
70 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
71 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
72 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
73 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
74 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
75 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
76 | chooser.addObject("Moat", Defense.MOAT); | |
77 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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78 | } |
79 | ||
29d59f48 ME |
80 | private void sendSendableChoosersToSmartDashboard() { |
81 | SmartDashboard.putData("PositionChooser", positionChooser); | |
82 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
83 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
84 | SmartDashboard.putData("Position Three Defense Chooser", | |
85 | positionThreeDefense); | |
e23bfd98 E |
86 | SmartDashboard.putData("Position Four Defense Chooser", |
87 | positionFourDefense); | |
88 | SmartDashboard.putData("Position Five Defense Chooser", | |
89 | positionFiveDefense); | |
d06ee698 | 90 | |
e23bfd98 E |
91 | SmartDashboard.putData("Position Four Defense Chooser", |
92 | positionFourDefense); | |
93 | SmartDashboard.putData("Position Five Defense Chooser", | |
94 | positionFiveDefense); | |
95 | ||
96 | shooter = new Shooter(); | |
d06ee698 | 97 | |
29d59f48 ME |
98 | } |
99 | ||
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100 | @Override |
101 | public void autonomousInit() { | |
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102 | Scheduler.getInstance().run(); |
103 | ||
104 | // get options chosen from drop down menu | |
105 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 106 | Integer chosenDefense = 0; |
3366a59a | 107 | |
33981335 ME |
108 | switch (chosenPosition) { |
109 | case 1: | |
3366a59a | 110 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 111 | case 2: |
3366a59a | 112 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 113 | case 3: |
3366a59a | 114 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 115 | case 4: |
3366a59a | 116 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 117 | case 5: |
3366a59a | 118 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 119 | } |
3366a59a ME |
120 | |
121 | System.out.println("Chosen Position: " + chosenPosition); | |
122 | System.out.println("Chosen Defense: " + chosenDefense); | |
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123 | } |
124 | ||
125 | @Override | |
126 | public void autonomousPeriodic() { | |
127 | Scheduler.getInstance().run(); | |
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128 | } |
129 | ||
130 | @Override | |
131 | public void teleopInit() { | |
da6933e2 E |
132 | |
133 | gyro.start(); | |
134 | ||
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135 | } |
136 | ||
137 | @Override | |
138 | public void teleopPeriodic() { | |
139 | Scheduler.getInstance().run(); | |
1e039ebd | 140 | |
da6933e2 E |
141 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
142 | ||
1e039ebd E |
143 | } |
144 | ||
38a404b3 | 145 | } |