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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 | |
6947c8a4 | 28 | initializeSendableChoosers(); |
3366a59a ME |
29 | |
30 | // add options for positions to the positionChooser | |
31 | positionChooser.addDefault("Position 1", 1); | |
32 | positionChooser.addObject("Position 2", 2); | |
33 | positionChooser.addObject("Position 3", 3); | |
34 | positionChooser.addObject("Position 4", 4); | |
35 | positionChooser.addObject("Position 5", 5); | |
36 | ||
37 | // add options for defenses into each defense chooser (5) | |
38 | addDefense(positionOneDefense); | |
39 | addDefense(positionTwoDefense); | |
40 | addDefense(positionThreeDefense); | |
41 | addDefense(positionFourDefense); | |
42 | addDefense(positionFiveDefense); | |
43 | ||
e13d2293 | 44 | // send the Sendable Choosers to the Smart Dashboard |
88e66b4e ME |
45 | // Sendable Choosers allows the driver to select the position of the robot |
46 | // and the positions of the defenses from a drop-down menu on the Smart | |
47 | // Dashboard | |
e13d2293 A |
48 | SmartDashboard.putData("PositionChooser", positionChooser); |
49 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
50 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
51 | SmartDashboard.putData("Position Three Defense Chooser", | |
52 | positionThreeDefense); | |
53 | SmartDashboard.putData("Position Four Defense Chooser", | |
54 | positionFourDefense); | |
55 | SmartDashboard.putData("Position Five Defense Chooser", | |
56 | positionFiveDefense); | |
3366a59a ME |
57 | } |
58 | ||
6947c8a4 ME |
59 | // initialize all the Sendable Choosers |
60 | private void initializeSendableChoosers() { | |
61 | positionChooser = new SendableChooser(); | |
62 | positionOneDefense = new SendableChooser(); | |
63 | positionTwoDefense = new SendableChooser(); | |
64 | positionThreeDefense = new SendableChooser(); | |
65 | positionFourDefense = new SendableChooser(); | |
66 | positionFiveDefense = new SendableChooser(); | |
67 | } | |
68 | ||
3366a59a ME |
69 | private void addDefense(SendableChooser chooser) { |
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 | ||
80 | @Override | |
81 | public void autonomousInit() { | |
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82 | Scheduler.getInstance().run(); |
83 | ||
84 | // get options chosen from drop down menu | |
85 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 86 | Integer chosenDefense = 0; |
3366a59a | 87 | |
33981335 ME |
88 | switch (chosenPosition) { |
89 | case 1: | |
3366a59a | 90 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 91 | case 2: |
3366a59a | 92 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 93 | case 3: |
3366a59a | 94 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 95 | case 4: |
3366a59a | 96 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 97 | case 5: |
3366a59a | 98 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 99 | } |
3366a59a ME |
100 | |
101 | System.out.println("Chosen Position: " + chosenPosition); | |
102 | System.out.println("Chosen Defense: " + chosenDefense); | |
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103 | } |
104 | ||
105 | @Override | |
106 | public void autonomousPeriodic() { | |
107 | Scheduler.getInstance().run(); | |
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108 | } |
109 | ||
110 | @Override | |
111 | public void teleopInit() { | |
112 | } | |
113 | ||
114 | @Override | |
115 | public void teleopPeriodic() { | |
116 | Scheduler.getInstance().run(); | |
117 | ||
118 | } | |
119 | } |