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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
91aac7a6 | 4 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
40348cab E |
5 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
6 | ||
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7 | import edu.wpi.first.wpilibj.IterativeRobot; |
8 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
9 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
10 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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11 | |
12 | public class Robot extends IterativeRobot { | |
13 | public static OI oi; | |
14 | public static DriveTrain driveTrain; | |
40348cab | 15 | public static Shooter shooter; |
38a404b3 | 16 | |
88e66b4e | 17 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 18 | SendableChooser positionChooser; |
6947c8a4 ME |
19 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
20 | positionFourDefense, positionFiveDefense; | |
3366a59a | 21 | |
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22 | @Override |
23 | public void robotInit() { | |
24 | driveTrain = new DriveTrain(); | |
25 | oi = new OI(); | |
40348cab | 26 | shooter = new Shooter(); |
3366a59a | 27 | |
88e66b4e ME |
28 | // Sendable Choosers allows the driver to select the position of the robot |
29 | // and the positions of the defenses from a drop-down menu on the Smart | |
30 | // Dashboard | |
29d59f48 ME |
31 | // make the Sendable Choosers |
32 | initializeSendableChoosers(); | |
33 | addPositionChooserOptions(); | |
34 | addDefensesToAllDefenseSendableChooosers(); | |
35 | sendSendableChoosersToSmartDashboard(); | |
36 | ||
3366a59a ME |
37 | } |
38 | ||
6947c8a4 ME |
39 | private void initializeSendableChoosers() { |
40 | positionChooser = new SendableChooser(); | |
41 | positionOneDefense = new SendableChooser(); | |
42 | positionTwoDefense = new SendableChooser(); | |
43 | positionThreeDefense = new SendableChooser(); | |
44 | positionFourDefense = new SendableChooser(); | |
45 | positionFiveDefense = new SendableChooser(); | |
46 | } | |
47 | ||
29d59f48 ME |
48 | private void addPositionChooserOptions() { |
49 | positionChooser.addDefault("Position 1", 1); | |
50 | positionChooser.addObject("Position 2", 2); | |
51 | positionChooser.addObject("Position 3", 3); | |
52 | positionChooser.addObject("Position 4", 4); | |
53 | positionChooser.addObject("Position 5", 5); | |
54 | } | |
55 | ||
56 | private void addDefensesToAllDefenseSendableChooosers() { | |
57 | addDefenseOptions(positionOneDefense); | |
58 | addDefenseOptions(positionTwoDefense); | |
59 | addDefenseOptions(positionThreeDefense); | |
60 | addDefenseOptions(positionFourDefense); | |
61 | addDefenseOptions(positionFiveDefense); | |
62 | } | |
63 | ||
64 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
65 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
66 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
67 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
68 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
69 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
70 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
71 | chooser.addObject("Moat", Defense.MOAT); | |
72 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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73 | } |
74 | ||
29d59f48 ME |
75 | private void sendSendableChoosersToSmartDashboard() { |
76 | SmartDashboard.putData("PositionChooser", positionChooser); | |
77 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
78 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
79 | SmartDashboard.putData("Position Three Defense Chooser", | |
80 | positionThreeDefense); | |
81 | SmartDashboard.putData("Position Four Defense Chooser", | |
82 | positionFourDefense); | |
83 | SmartDashboard.putData("Position Five Defense Chooser", | |
84 | positionFiveDefense); | |
85 | } | |
86 | ||
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87 | @Override |
88 | public void autonomousInit() { | |
3366a59a ME |
89 | Scheduler.getInstance().run(); |
90 | ||
91 | // get options chosen from drop down menu | |
92 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 93 | Integer chosenDefense = 0; |
3366a59a | 94 | |
33981335 ME |
95 | switch (chosenPosition) { |
96 | case 1: | |
3366a59a | 97 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 98 | case 2: |
3366a59a | 99 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 100 | case 3: |
3366a59a | 101 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 102 | case 4: |
3366a59a | 103 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 104 | case 5: |
3366a59a | 105 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 106 | } |
3366a59a ME |
107 | |
108 | System.out.println("Chosen Position: " + chosenPosition); | |
109 | System.out.println("Chosen Defense: " + chosenDefense); | |
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110 | } |
111 | ||
112 | @Override | |
113 | public void autonomousPeriodic() { | |
114 | Scheduler.getInstance().run(); | |
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115 | } |
116 | ||
117 | @Override | |
118 | public void teleopInit() { | |
119 | } | |
120 | ||
121 | @Override | |
122 | public void teleopPeriodic() { | |
123 | Scheduler.getInstance().run(); | |
124 | ||
125 | } | |
126 | } |