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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
7670b3f4 | 4 | import org.usfirst.frc.team3501.robot.sensors.GyroLib; |
2947642e | 5 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 7 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
c97fbce2 | 11 | import edu.wpi.first.wpilibj.I2C; |
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12 | import edu.wpi.first.wpilibj.IterativeRobot; |
13 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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14 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
15 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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16 | |
17 | public class Robot extends IterativeRobot { | |
18 | public static OI oi; | |
19 | public static DriveTrain driveTrain; | |
40348cab | 20 | public static Shooter shooter; |
2c9f5abb | 21 | |
02cb494e | 22 | public static Scaler scaler; |
c97fbce2 | 23 | |
a96fa926 | 24 | public static IntakeArm intakeArm; |
200caf63 | 25 | public static DefenseArm defenseArm; |
38a404b3 | 26 | |
88e66b4e | 27 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 28 | SendableChooser positionChooser; |
6947c8a4 | 29 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
53f43a72 | 30 | positionFourDefense, positionFiveDefense; |
3366a59a | 31 | |
c97fbce2 | 32 | // Gyro stuff |
da6933e2 | 33 | public GyroLib gyro; |
c97fbce2 | 34 | |
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35 | @Override |
36 | public void robotInit() { | |
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37 | driveTrain = new DriveTrain(); |
38 | oi = new OI(); | |
da6933e2 | 39 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
2ac0cc17 | 40 | |
40348cab | 41 | shooter = new Shooter(); |
02cb494e | 42 | scaler = new Scaler(); |
a96fa926 | 43 | intakeArm = new IntakeArm(); |
3366a59a | 44 | |
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45 | initializeSendableChoosers(); |
46 | addPositionChooserOptions(); | |
47 | addDefensesToAllDefenseSendableChoosers(); | |
48 | sendSendableChoosersToSmartDashboard(); | |
49 | ||
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50 | } |
51 | ||
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52 | private void initializeSendableChoosers() { |
53 | positionChooser = new SendableChooser(); | |
54 | positionOneDefense = new SendableChooser(); | |
55 | positionTwoDefense = new SendableChooser(); | |
56 | positionThreeDefense = new SendableChooser(); | |
57 | positionFourDefense = new SendableChooser(); | |
58 | positionFiveDefense = new SendableChooser(); | |
59 | } | |
60 | ||
29d59f48 ME |
61 | private void addPositionChooserOptions() { |
62 | positionChooser.addDefault("Position 1", 1); | |
63 | positionChooser.addObject("Position 2", 2); | |
64 | positionChooser.addObject("Position 3", 3); | |
65 | positionChooser.addObject("Position 4", 4); | |
66 | positionChooser.addObject("Position 5", 5); | |
67 | } | |
68 | ||
9742fe2e | 69 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
70 | addDefenseOptions(positionOneDefense); |
71 | addDefenseOptions(positionTwoDefense); | |
72 | addDefenseOptions(positionThreeDefense); | |
73 | addDefenseOptions(positionFourDefense); | |
74 | addDefenseOptions(positionFiveDefense); | |
75 | } | |
76 | ||
77 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
78 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
79 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
80 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
81 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
82 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
83 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
84 | chooser.addObject("Moat", Defense.MOAT); | |
85 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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86 | } |
87 | ||
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88 | private void sendSendableChoosersToSmartDashboard() { |
89 | SmartDashboard.putData("PositionChooser", positionChooser); | |
90 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
91 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
92 | SmartDashboard.putData("Position Three Defense Chooser", | |
93 | positionThreeDefense); | |
e23bfd98 E |
94 | SmartDashboard.putData("Position Four Defense Chooser", |
95 | positionFourDefense); | |
96 | SmartDashboard.putData("Position Five Defense Chooser", | |
97 | positionFiveDefense); | |
d06ee698 | 98 | |
e23bfd98 E |
99 | SmartDashboard.putData("Position Four Defense Chooser", |
100 | positionFourDefense); | |
101 | SmartDashboard.putData("Position Five Defense Chooser", | |
102 | positionFiveDefense); | |
103 | ||
104 | shooter = new Shooter(); | |
d06ee698 | 105 | |
29d59f48 ME |
106 | } |
107 | ||
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108 | @Override |
109 | public void autonomousInit() { | |
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110 | Scheduler.getInstance().run(); |
111 | ||
112 | // get options chosen from drop down menu | |
113 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 114 | Integer chosenDefense = 0; |
3366a59a | 115 | |
ee177a4a | 116 | if (chosenPosition == 1) |
3366a59a | 117 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
ee177a4a | 118 | else if (chosenPosition == 2) |
3366a59a | 119 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
ee177a4a | 120 | else if (chosenPosition == 3) |
3366a59a | 121 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
ee177a4a | 122 | else if (chosenPosition == 4) |
3366a59a | 123 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
ee177a4a | 124 | else if (chosenPosition == 5) |
3366a59a ME |
125 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
126 | ||
127 | System.out.println("Chosen Position: " + chosenPosition); | |
128 | System.out.println("Chosen Defense: " + chosenDefense); | |
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129 | } |
130 | ||
131 | @Override | |
132 | public void autonomousPeriodic() { | |
133 | Scheduler.getInstance().run(); | |
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134 | } |
135 | ||
136 | @Override | |
137 | public void teleopInit() { | |
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138 | |
139 | gyro.start(); | |
140 | ||
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141 | } |
142 | ||
143 | @Override | |
144 | public void teleopPeriodic() { | |
145 | Scheduler.getInstance().run(); | |
1e039ebd | 146 | |
da6933e2 E |
147 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
148 | ||
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149 | } |
150 | ||
38a404b3 | 151 | } |