Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
7670b3f4 KZ |
4 | import org.usfirst.frc.team3501.robot.sensors.GyroLib; |
5 | import org.usfirst.frc.team3501.robot.sensors.Photogate; | |
2947642e | 6 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 7 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 8 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 9 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
10 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
11 | ||
c97fbce2 | 12 | import edu.wpi.first.wpilibj.I2C; |
38a404b3 KZ |
13 | import edu.wpi.first.wpilibj.IterativeRobot; |
14 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
15 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
16 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
38a404b3 KZ |
17 | |
18 | public class Robot extends IterativeRobot { | |
19 | public static OI oi; | |
20 | public static DriveTrain driveTrain; | |
40348cab | 21 | public static Shooter shooter; |
2c9f5abb | 22 | |
02cb494e | 23 | public static Scaler scaler; |
c97fbce2 | 24 | |
a96fa926 | 25 | public static IntakeArm intakeArm; |
200caf63 | 26 | public static DefenseArm defenseArm; |
38a404b3 | 27 | |
23e5c98d | 28 | public static Photogate photogate; |
29 | ||
88e66b4e | 30 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 31 | SendableChooser positionChooser; |
6947c8a4 | 32 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
53f43a72 | 33 | positionFourDefense, positionFiveDefense; |
3366a59a | 34 | |
c97fbce2 | 35 | // Gyro stuff |
da6933e2 | 36 | public GyroLib gyro; |
c97fbce2 | 37 | |
38a404b3 KZ |
38 | @Override |
39 | public void robotInit() { | |
9742fe2e KZ |
40 | driveTrain = new DriveTrain(); |
41 | oi = new OI(); | |
da6933e2 | 42 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
2ac0cc17 | 43 | |
40348cab | 44 | shooter = new Shooter(); |
02cb494e | 45 | scaler = new Scaler(); |
a96fa926 | 46 | intakeArm = new IntakeArm(); |
3366a59a | 47 | |
9742fe2e KZ |
48 | initializeSendableChoosers(); |
49 | addPositionChooserOptions(); | |
50 | addDefensesToAllDefenseSendableChoosers(); | |
51 | sendSendableChoosersToSmartDashboard(); | |
52 | ||
3366a59a ME |
53 | } |
54 | ||
6947c8a4 ME |
55 | private void initializeSendableChoosers() { |
56 | positionChooser = new SendableChooser(); | |
57 | positionOneDefense = new SendableChooser(); | |
58 | positionTwoDefense = new SendableChooser(); | |
59 | positionThreeDefense = new SendableChooser(); | |
60 | positionFourDefense = new SendableChooser(); | |
61 | positionFiveDefense = new SendableChooser(); | |
62 | } | |
63 | ||
29d59f48 ME |
64 | private void addPositionChooserOptions() { |
65 | positionChooser.addDefault("Position 1", 1); | |
66 | positionChooser.addObject("Position 2", 2); | |
67 | positionChooser.addObject("Position 3", 3); | |
68 | positionChooser.addObject("Position 4", 4); | |
69 | positionChooser.addObject("Position 5", 5); | |
70 | } | |
71 | ||
9742fe2e | 72 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
73 | addDefenseOptions(positionOneDefense); |
74 | addDefenseOptions(positionTwoDefense); | |
75 | addDefenseOptions(positionThreeDefense); | |
76 | addDefenseOptions(positionFourDefense); | |
77 | addDefenseOptions(positionFiveDefense); | |
78 | } | |
79 | ||
80 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
81 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
82 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
83 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
84 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
85 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
86 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
87 | chooser.addObject("Moat", Defense.MOAT); | |
88 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
38a404b3 KZ |
89 | } |
90 | ||
29d59f48 ME |
91 | private void sendSendableChoosersToSmartDashboard() { |
92 | SmartDashboard.putData("PositionChooser", positionChooser); | |
93 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
94 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
95 | SmartDashboard.putData("Position Three Defense Chooser", | |
96 | positionThreeDefense); | |
e23bfd98 E |
97 | SmartDashboard.putData("Position Four Defense Chooser", |
98 | positionFourDefense); | |
99 | SmartDashboard.putData("Position Five Defense Chooser", | |
100 | positionFiveDefense); | |
d06ee698 | 101 | |
e23bfd98 E |
102 | SmartDashboard.putData("Position Four Defense Chooser", |
103 | positionFourDefense); | |
104 | SmartDashboard.putData("Position Five Defense Chooser", | |
105 | positionFiveDefense); | |
106 | ||
107 | shooter = new Shooter(); | |
d06ee698 | 108 | |
29d59f48 ME |
109 | } |
110 | ||
38a404b3 KZ |
111 | @Override |
112 | public void autonomousInit() { | |
3366a59a ME |
113 | Scheduler.getInstance().run(); |
114 | ||
115 | // get options chosen from drop down menu | |
116 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 117 | Integer chosenDefense = 0; |
3366a59a | 118 | |
ee177a4a | 119 | if (chosenPosition == 1) |
3366a59a | 120 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
ee177a4a | 121 | else if (chosenPosition == 2) |
3366a59a | 122 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
ee177a4a | 123 | else if (chosenPosition == 3) |
3366a59a | 124 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
ee177a4a | 125 | else if (chosenPosition == 4) |
3366a59a | 126 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
ee177a4a | 127 | else if (chosenPosition == 5) |
3366a59a ME |
128 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
129 | ||
130 | System.out.println("Chosen Position: " + chosenPosition); | |
131 | System.out.println("Chosen Defense: " + chosenDefense); | |
38a404b3 KZ |
132 | } |
133 | ||
134 | @Override | |
135 | public void autonomousPeriodic() { | |
136 | Scheduler.getInstance().run(); | |
38a404b3 KZ |
137 | } |
138 | ||
139 | @Override | |
140 | public void teleopInit() { | |
da6933e2 E |
141 | |
142 | gyro.start(); | |
143 | ||
38a404b3 KZ |
144 | } |
145 | ||
146 | @Override | |
147 | public void teleopPeriodic() { | |
148 | Scheduler.getInstance().run(); | |
1e039ebd | 149 | |
da6933e2 E |
150 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
151 | ||
1e039ebd E |
152 | } |
153 | ||
38a404b3 | 154 | } |