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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
4 | import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy; | |
e1f7a742 | 5 | import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear; |
047383c3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 7 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
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8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
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10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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12 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
13 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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14 | |
15 | public class Robot extends IterativeRobot { | |
16 | public static OI oi; | |
17 | public static DriveTrain driveTrain; | |
40348cab | 18 | public static Shooter shooter; |
a96fa926 | 19 | public static IntakeArm intakeArm; |
3366a59a | 20 | |
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21 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
22 | SendableChooser positionChooser; | |
23 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, | |
24 | positionFourDefense, positionFiveDefense; | |
25 | ||
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26 | @Override |
27 | public void robotInit() { | |
9742fe2e | 28 | driveTrain = new DriveTrain(); |
40348cab | 29 | shooter = new Shooter(); |
a96fa926 | 30 | intakeArm = new IntakeArm(); |
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31 | |
32 | oi = new OI(); | |
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33 | |
34 | initializeSendableChoosers(); | |
35 | addPositionChooserOptions(); | |
36 | addDefensesToAllDefenseSendableChoosers(); | |
37 | sendSendableChoosersToSmartDashboard(); | |
38 | } | |
39 | ||
40 | private void initializeSendableChoosers() { | |
41 | positionChooser = new SendableChooser(); | |
42 | positionOneDefense = new SendableChooser(); | |
43 | positionTwoDefense = new SendableChooser(); | |
44 | positionThreeDefense = new SendableChooser(); | |
45 | positionFourDefense = new SendableChooser(); | |
46 | positionFiveDefense = new SendableChooser(); | |
47 | } | |
48 | ||
49 | private void addPositionChooserOptions() { | |
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50 | positionChooser.addDefault("None", 0); |
51 | positionChooser.addObject("Position 1", 1); | |
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52 | positionChooser.addObject("Position 2", 2); |
53 | positionChooser.addObject("Position 3", 3); | |
54 | positionChooser.addObject("Position 4", 4); | |
55 | positionChooser.addObject("Position 5", 5); | |
56 | } | |
57 | ||
58 | private void addDefensesToAllDefenseSendableChoosers() { | |
59 | addDefenseOptions(positionOneDefense); | |
60 | addDefenseOptions(positionTwoDefense); | |
61 | addDefenseOptions(positionThreeDefense); | |
62 | addDefenseOptions(positionFourDefense); | |
63 | addDefenseOptions(positionFiveDefense); | |
64 | } | |
65 | ||
66 | private void addDefenseOptions(SendableChooser chooser) { | |
67 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
68 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
69 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
70 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
71 | chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE); | |
72 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
73 | chooser.addObject("Moat", Defense.MOAT); | |
74 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
75 | } | |
76 | ||
77 | private void sendSendableChoosersToSmartDashboard() { | |
78 | SmartDashboard.putData("PositionChooser", positionChooser); | |
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79 | SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense); |
80 | SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense); | |
81 | SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense); | |
82 | SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense); | |
83 | SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense); | |
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85 | } |
86 | ||
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87 | @Override |
88 | public void autonomousInit() { | |
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89 | // get options chosen from drop down menu |
90 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
91 | Defense chosenDefense = null; | |
92 | ||
93 | if (chosenPosition == 1) | |
94 | chosenDefense = (Defense) positionOneDefense.getSelected(); | |
95 | else if (chosenPosition == 2) | |
96 | chosenDefense = (Defense) positionTwoDefense.getSelected(); | |
97 | else if (chosenPosition == 3) | |
98 | chosenDefense = (Defense) positionThreeDefense.getSelected(); | |
99 | else if (chosenPosition == 4) | |
100 | chosenDefense = (Defense) positionFourDefense.getSelected(); | |
101 | else if (chosenPosition == 5) | |
102 | chosenDefense = (Defense) positionFiveDefense.getSelected(); | |
103 | ||
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104 | if (chosenPosition != 0) |
105 | Scheduler.getInstance().add( | |
106 | new ChooseStrategy(chosenPosition, chosenDefense)); | |
107 | ||
108 | // Scheduler.getInstance().add(new TimeDrive(.6, 4)); | |
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109 | } |
110 | ||
111 | @Override | |
112 | public void autonomousPeriodic() { | |
113 | Scheduler.getInstance().run(); | |
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114 | } |
115 | ||
116 | @Override | |
117 | public void teleopInit() { | |
e1f7a742 | 118 | Scheduler.getInstance().add(new SetHighGear()); |
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119 | } |
120 | ||
121 | @Override | |
122 | public void teleopPeriodic() { | |
123 | Scheduler.getInstance().run(); | |
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124 | } |
125 | ||
38a404b3 | 126 | } |