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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; |
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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; | |
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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 ME |
18 | SendableChooser positionOneDefense; |
19 | SendableChooser positionTwoDefense; | |
20 | SendableChooser positionThreeDefense; | |
21 | SendableChooser positionFourDefense; | |
22 | SendableChooser positionFiveDefense; | |
23 | SendableChooser positionChooser; | |
24 | ||
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25 | @Override |
26 | public void robotInit() { | |
27 | driveTrain = new DriveTrain(); | |
28 | oi = new OI(); | |
40348cab | 29 | shooter = new Shooter(); |
3366a59a | 30 | |
a0ff09b3 | 31 | // initialize all the Sendable Choosers |
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32 | positionChooser = new SendableChooser(); |
33 | positionOneDefense = new SendableChooser(); | |
34 | positionTwoDefense = new SendableChooser(); | |
35 | positionThreeDefense = new SendableChooser(); | |
36 | positionFourDefense = new SendableChooser(); | |
37 | positionFiveDefense = new SendableChooser(); | |
38 | ||
39 | // add options for positions to the positionChooser | |
40 | positionChooser.addDefault("Position 1", 1); | |
41 | positionChooser.addObject("Position 2", 2); | |
42 | positionChooser.addObject("Position 3", 3); | |
43 | positionChooser.addObject("Position 4", 4); | |
44 | positionChooser.addObject("Position 5", 5); | |
45 | ||
46 | // add options for defenses into each defense chooser (5) | |
47 | addDefense(positionOneDefense); | |
48 | addDefense(positionTwoDefense); | |
49 | addDefense(positionThreeDefense); | |
50 | addDefense(positionFourDefense); | |
51 | addDefense(positionFiveDefense); | |
52 | ||
e13d2293 | 53 | // send the Sendable Choosers to the Smart Dashboard |
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54 | // Sendable Choosers allows the driver to select the position of the robot |
55 | // and the positions of the defenses from a drop-down menu on the Smart | |
56 | // Dashboard | |
e13d2293 A |
57 | SmartDashboard.putData("PositionChooser", positionChooser); |
58 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
59 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
60 | SmartDashboard.putData("Position Three Defense Chooser", | |
61 | positionThreeDefense); | |
62 | SmartDashboard.putData("Position Four Defense Chooser", | |
63 | positionFourDefense); | |
64 | SmartDashboard.putData("Position Five Defense Chooser", | |
65 | positionFiveDefense); | |
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66 | } |
67 | ||
68 | private void addDefense(SendableChooser chooser) { | |
69 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
70 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
71 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
72 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
73 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
74 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
75 | chooser.addObject("Moat", Defense.MOAT); | |
76 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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77 | } |
78 | ||
79 | @Override | |
80 | public void autonomousInit() { | |
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81 | Scheduler.getInstance().run(); |
82 | ||
83 | // get options chosen from drop down menu | |
84 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 85 | Integer chosenDefense = 0; |
3366a59a | 86 | |
33981335 ME |
87 | switch (chosenPosition) { |
88 | case 1: | |
3366a59a | 89 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 90 | case 2: |
3366a59a | 91 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 92 | case 3: |
3366a59a | 93 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 94 | case 4: |
3366a59a | 95 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 96 | case 5: |
3366a59a | 97 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 98 | } |
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99 | |
100 | System.out.println("Chosen Position: " + chosenPosition); | |
101 | System.out.println("Chosen Defense: " + chosenDefense); | |
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102 | } |
103 | ||
104 | @Override | |
105 | public void autonomousPeriodic() { | |
106 | Scheduler.getInstance().run(); | |
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107 | } |
108 | ||
109 | @Override | |
110 | public void teleopInit() { | |
111 | } | |
112 | ||
113 | @Override | |
114 | public void teleopPeriodic() { | |
115 | Scheduler.getInstance().run(); | |
116 | ||
117 | } | |
118 | } |