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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants.DriveTrain; | |
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4 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
5 | ||
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6 | import edu.wpi.first.wpilibj.IterativeRobot; |
7 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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8 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
9 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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10 | |
11 | public class Robot extends IterativeRobot { | |
12 | public static OI oi; | |
13 | public static DriveTrain driveTrain; | |
40348cab | 14 | public static Shooter shooter; |
38a404b3 | 15 | |
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16 | enum Defense { |
17 | PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL | |
18 | }; | |
19 | ||
20 | SendableChooser positionOneDefense; | |
21 | SendableChooser positionTwoDefense; | |
22 | SendableChooser positionThreeDefense; | |
23 | SendableChooser positionFourDefense; | |
24 | SendableChooser positionFiveDefense; | |
25 | SendableChooser positionChooser; | |
26 | ||
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27 | @Override |
28 | public void robotInit() { | |
29 | driveTrain = new DriveTrain(); | |
30 | oi = new OI(); | |
40348cab | 31 | shooter = new Shooter(); |
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32 | |
33 | // intialize all the Sendable Choosers | |
34 | positionChooser = new SendableChooser(); | |
35 | positionOneDefense = new SendableChooser(); | |
36 | positionTwoDefense = new SendableChooser(); | |
37 | positionThreeDefense = new SendableChooser(); | |
38 | positionFourDefense = new SendableChooser(); | |
39 | positionFiveDefense = new SendableChooser(); | |
40 | ||
41 | // add options for positions to the positionChooser | |
42 | positionChooser.addDefault("Position 1", 1); | |
43 | positionChooser.addObject("Position 2", 2); | |
44 | positionChooser.addObject("Position 3", 3); | |
45 | positionChooser.addObject("Position 4", 4); | |
46 | positionChooser.addObject("Position 5", 5); | |
47 | ||
48 | // add options for defenses into each defense chooser (5) | |
49 | addDefense(positionOneDefense); | |
50 | addDefense(positionTwoDefense); | |
51 | addDefense(positionThreeDefense); | |
52 | addDefense(positionFourDefense); | |
53 | addDefense(positionFiveDefense); | |
54 | ||
55 | SmartDashboard.putData("Position", positionChooser); | |
56 | SmartDashboard.putData("Position One Defense", positionOneDefense); | |
57 | SmartDashboard.putData("Position Two Defense", positionTwoDefense); | |
58 | SmartDashboard.putData("Position Three Defense", positionThreeDefense); | |
59 | SmartDashboard.putData("Position Four Defense", positionFourDefense); | |
60 | SmartDashboard.putData("Position Five Defense", positionFiveDefense); | |
61 | ||
62 | } | |
63 | ||
64 | private void addDefense(SendableChooser chooser) { | |
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 | ||
75 | @Override | |
76 | public void autonomousInit() { | |
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77 | Scheduler.getInstance().run(); |
78 | ||
79 | // get options chosen from drop down menu | |
80 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
81 | Integer chosenDefense = -1; | |
82 | ||
83 | if (chosenPosition == 1) | |
84 | chosenDefense = (Integer) positionOneDefense.getSelected(); | |
85 | if (chosenPosition == 2) | |
86 | chosenDefense = (Integer) positionTwoDefense.getSelected(); | |
87 | if (chosenPosition == 3) | |
88 | chosenDefense = (Integer) positionThreeDefense.getSelected(); | |
89 | if (chosenPosition == 4) | |
90 | chosenDefense = (Integer) positionFourDefense.getSelected(); | |
91 | if (chosenPosition == 5) | |
92 | chosenDefense = (Integer) positionFiveDefense.getSelected(); | |
93 | ||
94 | System.out.println("Chosen Position: " + chosenPosition); | |
95 | System.out.println("Chosen Defense: " + chosenDefense); | |
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96 | } |
97 | ||
98 | @Override | |
99 | public void autonomousPeriodic() { | |
100 | Scheduler.getInstance().run(); | |
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101 | } |
102 | ||
103 | @Override | |
104 | public void teleopInit() { | |
3366a59a | 105 | System.out.println("running teleopInit"); |
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106 | } |
107 | ||
108 | @Override | |
109 | public void teleopPeriodic() { | |
110 | Scheduler.getInstance().run(); | |
111 | ||
112 | } | |
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113 | |
114 | public void operate() { | |
115 | ||
116 | } | |
117 | ||
38a404b3 | 118 | } |