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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
2947642e | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 7 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
c97fbce2 | 10 | import edu.wpi.first.wpilibj.I2C; |
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11 | import edu.wpi.first.wpilibj.IterativeRobot; |
12 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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13 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
14 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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15 | |
16 | public class Robot extends IterativeRobot { | |
17 | public static OI oi; | |
18 | public static DriveTrain driveTrain; | |
40348cab | 19 | public static Shooter shooter; |
2c9f5abb | 20 | |
02cb494e | 21 | public static Scaler scaler; |
c97fbce2 | 22 | |
a96fa926 | 23 | public static IntakeArm intakeArm; |
200caf63 | 24 | public static DefenseArm defenseArm; |
38a404b3 | 25 | |
88e66b4e | 26 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 27 | SendableChooser positionChooser; |
6947c8a4 | 28 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
9742fe2e | 29 | positionFourDefense, positionFiveDefense; |
3366a59a | 30 | |
c97fbce2 | 31 | // Gyro stuff |
da6933e2 | 32 | public GyroLib gyro; |
c97fbce2 | 33 | |
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34 | @Override |
35 | public void robotInit() { | |
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36 | driveTrain = new DriveTrain(); |
37 | oi = new OI(); | |
da6933e2 | 38 | gyro = new GyroLib(I2C.Port.kOnboard, false); |
2ac0cc17 | 39 | |
40348cab | 40 | shooter = new Shooter(); |
02cb494e | 41 | scaler = new Scaler(); |
a96fa926 | 42 | intakeArm = new IntakeArm(); |
3366a59a | 43 | |
9742fe2e KZ |
44 | initializeSendableChoosers(); |
45 | addPositionChooserOptions(); | |
46 | addDefensesToAllDefenseSendableChoosers(); | |
47 | sendSendableChoosersToSmartDashboard(); | |
48 | ||
3366a59a ME |
49 | } |
50 | ||
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51 | private void initializeSendableChoosers() { |
52 | positionChooser = new SendableChooser(); | |
53 | positionOneDefense = new SendableChooser(); | |
54 | positionTwoDefense = new SendableChooser(); | |
55 | positionThreeDefense = new SendableChooser(); | |
56 | positionFourDefense = new SendableChooser(); | |
57 | positionFiveDefense = new SendableChooser(); | |
58 | } | |
59 | ||
29d59f48 ME |
60 | private void addPositionChooserOptions() { |
61 | positionChooser.addDefault("Position 1", 1); | |
62 | positionChooser.addObject("Position 2", 2); | |
63 | positionChooser.addObject("Position 3", 3); | |
64 | positionChooser.addObject("Position 4", 4); | |
65 | positionChooser.addObject("Position 5", 5); | |
66 | } | |
67 | ||
9742fe2e | 68 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
69 | addDefenseOptions(positionOneDefense); |
70 | addDefenseOptions(positionTwoDefense); | |
71 | addDefenseOptions(positionThreeDefense); | |
72 | addDefenseOptions(positionFourDefense); | |
73 | addDefenseOptions(positionFiveDefense); | |
74 | } | |
75 | ||
76 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
77 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
78 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
79 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
80 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
81 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
82 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
83 | chooser.addObject("Moat", Defense.MOAT); | |
84 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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85 | } |
86 | ||
29d59f48 ME |
87 | private void sendSendableChoosersToSmartDashboard() { |
88 | SmartDashboard.putData("PositionChooser", positionChooser); | |
89 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
90 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
91 | SmartDashboard.putData("Position Three Defense Chooser", | |
92 | positionThreeDefense); | |
e23bfd98 E |
93 | SmartDashboard.putData("Position Four Defense Chooser", |
94 | positionFourDefense); | |
95 | SmartDashboard.putData("Position Five Defense Chooser", | |
96 | positionFiveDefense); | |
d06ee698 | 97 | |
e23bfd98 E |
98 | SmartDashboard.putData("Position Four Defense Chooser", |
99 | positionFourDefense); | |
100 | SmartDashboard.putData("Position Five Defense Chooser", | |
101 | positionFiveDefense); | |
102 | ||
103 | shooter = new Shooter(); | |
d06ee698 | 104 | |
29d59f48 ME |
105 | } |
106 | ||
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107 | @Override |
108 | public void autonomousInit() { | |
3366a59a ME |
109 | Scheduler.getInstance().run(); |
110 | ||
111 | // get options chosen from drop down menu | |
112 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 113 | Integer chosenDefense = 0; |
3366a59a | 114 | |
33981335 ME |
115 | switch (chosenPosition) { |
116 | case 1: | |
3366a59a | 117 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 118 | case 2: |
3366a59a | 119 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 120 | case 3: |
3366a59a | 121 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 122 | case 4: |
3366a59a | 123 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 124 | case 5: |
3366a59a | 125 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 126 | } |
3366a59a ME |
127 | |
128 | System.out.println("Chosen Position: " + chosenPosition); | |
129 | System.out.println("Chosen Defense: " + chosenDefense); | |
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130 | } |
131 | ||
132 | @Override | |
133 | public void autonomousPeriodic() { | |
134 | Scheduler.getInstance().run(); | |
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135 | } |
136 | ||
137 | @Override | |
138 | public void teleopInit() { | |
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139 | |
140 | gyro.start(); | |
141 | ||
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142 | } |
143 | ||
144 | @Override | |
145 | public void teleopPeriodic() { | |
146 | Scheduler.getInstance().run(); | |
1e039ebd | 147 | |
da6933e2 E |
148 | System.out.println("Degrees: " + gyro.getRotationZ().getAngle()); |
149 | ||
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150 | } |
151 | ||
38a404b3 | 152 | } |