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38a404b3 KZ |
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; |
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8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
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10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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12 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
13 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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14 | |
15 | public class Robot extends IterativeRobot { | |
16 | public static OI oi; | |
17 | public static DriveTrain driveTrain; | |
40348cab | 18 | public static Shooter shooter; |
2c9f5abb | 19 | |
02cb494e | 20 | public static Scaler scaler; |
a96fa926 | 21 | public static IntakeArm intakeArm; |
200caf63 | 22 | public static DefenseArm defenseArm; |
38a404b3 | 23 | |
88e66b4e | 24 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 25 | SendableChooser positionChooser; |
6947c8a4 | 26 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
e23bfd98 | 27 | positionFourDefense, positionFiveDefense; |
3366a59a | 28 | |
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29 | @Override |
30 | public void robotInit() { | |
31 | driveTrain = new DriveTrain(); | |
32 | oi = new OI(); | |
2ac0cc17 | 33 | |
40348cab | 34 | shooter = new Shooter(); |
02cb494e | 35 | scaler = new Scaler(); |
a96fa926 | 36 | intakeArm = new IntakeArm(); |
3366a59a | 37 | |
a96fa926 D |
38 | // Sendable Choosers allows the driver to select the position of the |
39 | // robot | |
88e66b4e ME |
40 | // and the positions of the defenses from a drop-down menu on the Smart |
41 | // Dashboard | |
29d59f48 ME |
42 | // make the Sendable Choosers |
43 | initializeSendableChoosers(); | |
44 | addPositionChooserOptions(); | |
45 | addDefensesToAllDefenseSendableChooosers(); | |
46 | sendSendableChoosersToSmartDashboard(); | |
47 | ||
3366a59a ME |
48 | } |
49 | ||
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50 | private void initializeSendableChoosers() { |
51 | positionChooser = new SendableChooser(); | |
52 | positionOneDefense = new SendableChooser(); | |
53 | positionTwoDefense = new SendableChooser(); | |
54 | positionThreeDefense = new SendableChooser(); | |
55 | positionFourDefense = new SendableChooser(); | |
56 | positionFiveDefense = new SendableChooser(); | |
57 | } | |
58 | ||
29d59f48 ME |
59 | private void addPositionChooserOptions() { |
60 | positionChooser.addDefault("Position 1", 1); | |
61 | positionChooser.addObject("Position 2", 2); | |
62 | positionChooser.addObject("Position 3", 3); | |
63 | positionChooser.addObject("Position 4", 4); | |
64 | positionChooser.addObject("Position 5", 5); | |
65 | } | |
66 | ||
67 | private void addDefensesToAllDefenseSendableChooosers() { | |
68 | addDefenseOptions(positionOneDefense); | |
69 | addDefenseOptions(positionTwoDefense); | |
70 | addDefenseOptions(positionThreeDefense); | |
71 | addDefenseOptions(positionFourDefense); | |
72 | addDefenseOptions(positionFiveDefense); | |
73 | } | |
74 | ||
75 | private void addDefenseOptions(SendableChooser chooser) { | |
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76 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
77 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
78 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
79 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
80 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
81 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
82 | chooser.addObject("Moat", Defense.MOAT); | |
83 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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84 | } |
85 | ||
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86 | private void sendSendableChoosersToSmartDashboard() { |
87 | SmartDashboard.putData("PositionChooser", positionChooser); | |
88 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
89 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
90 | SmartDashboard.putData("Position Three Defense Chooser", | |
91 | positionThreeDefense); | |
e23bfd98 E |
92 | SmartDashboard.putData("Position Four Defense Chooser", |
93 | positionFourDefense); | |
94 | SmartDashboard.putData("Position Five Defense Chooser", | |
95 | positionFiveDefense); | |
96 | SmartDashboard.putData("Position Four Defense Chooser", | |
97 | positionFourDefense); | |
98 | SmartDashboard.putData("Position Five Defense Chooser", | |
99 | positionFiveDefense); | |
100 | ||
101 | shooter = new Shooter(); | |
29d59f48 ME |
102 | } |
103 | ||
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104 | @Override |
105 | public void autonomousInit() { | |
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106 | Scheduler.getInstance().run(); |
107 | ||
108 | // get options chosen from drop down menu | |
109 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 110 | Integer chosenDefense = 0; |
3366a59a | 111 | |
33981335 ME |
112 | switch (chosenPosition) { |
113 | case 1: | |
3366a59a | 114 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 115 | case 2: |
3366a59a | 116 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 117 | case 3: |
3366a59a | 118 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 119 | case 4: |
3366a59a | 120 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 121 | case 5: |
3366a59a | 122 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 123 | } |
3366a59a ME |
124 | |
125 | System.out.println("Chosen Position: " + chosenPosition); | |
126 | System.out.println("Chosen Defense: " + chosenDefense); | |
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127 | } |
128 | ||
129 | @Override | |
130 | public void autonomousPeriodic() { | |
131 | Scheduler.getInstance().run(); | |
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132 | } |
133 | ||
134 | @Override | |
135 | public void teleopInit() { | |
9a4d37df | 136 | Robot.driveTrain.initializeGyro(); |
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137 | } |
138 | ||
139 | @Override | |
140 | public void teleopPeriodic() { | |
141 | Scheduler.getInstance().run(); | |
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142 | } |
143 | } |