Auton updates

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.Constants.Auton;
import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends IterativeRobot {
  public static OI oi;
  public static DriveTrain driveTrain;
  public static Shooter shooter;
  public static IntakeArm intakeArm;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  SendableChooser positionChooser;
  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
      positionFourDefense, positionFiveDefense;

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    intakeArm = new IntakeArm();

    oi = new OI();

    initializeSendableChoosers();
    addPositionChooserOptions();
    addDefensesToAllDefenseSendableChoosers();
    sendSendableChoosersToSmartDashboard();
  }

  private void initializeSendableChoosers() {
    positionChooser = new SendableChooser();
    positionOneDefense = new SendableChooser();
    positionTwoDefense = new SendableChooser();
    positionThreeDefense = new SendableChooser();
    positionFourDefense = new SendableChooser();
    positionFiveDefense = new SendableChooser();
  }

  private void addPositionChooserOptions() {
    positionChooser.addDefault("None", 0);
    positionChooser.addObject("Position 1", 1);
    positionChooser.addObject("Position 2", 2);
    positionChooser.addObject("Position 3", 3);
    positionChooser.addObject("Position 4", 4);
    positionChooser.addObject("Position 5", 5);
  }

  private void addDefensesToAllDefenseSendableChoosers() {
    addDefenseOptions(positionOneDefense);
    addDefenseOptions(positionTwoDefense);
    addDefenseOptions(positionThreeDefense);
    addDefenseOptions(positionFourDefense);
    addDefenseOptions(positionFiveDefense);
  }

  private void addDefenseOptions(SendableChooser chooser) {
    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
    chooser.addObject("Sally Port", Defense.SALLY_PORT);
    chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
        + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
    chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
        + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
    chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
    chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
        Defense.MOAT);
    chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
        + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
  }

  private void sendSendableChoosersToSmartDashboard() {
    SmartDashboard.putData("PositionChooser", positionChooser);
    SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
    SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
    SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
    SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
    SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);

  }

  @Override
  public void autonomousInit() {
    // get options chosen from drop down menu
    Integer chosenPosition = (Integer) positionChooser.getSelected();
    Defense chosenDefense = null;

    if (chosenPosition == 1)
      chosenDefense = (Defense) positionOneDefense.getSelected();
    else if (chosenPosition == 2)
      chosenDefense = (Defense) positionTwoDefense.getSelected();
    else if (chosenPosition == 3)
      chosenDefense = (Defense) positionThreeDefense.getSelected();
    else if (chosenPosition == 4)
      chosenDefense = (Defense) positionFourDefense.getSelected();
    else if (chosenPosition == 5)
      chosenDefense = (Defense) positionFiveDefense.getSelected();

    if (chosenPosition != 0)
      Scheduler.getInstance().add(
          new ChooseStrategy(chosenPosition, chosenDefense));

    // Scheduler.getInstance().add(new TimeDrive(.6, 4));
  }

  @Override
  public void autonomousPeriodic() {
    Scheduler.getInstance().run();
  }

  @Override
  public void teleopInit() {
    Scheduler.getInstance().add(new SetLowGear());
  }

  @Override
  public void teleopPeriodic() {
    Scheduler.getInstance().run();
  }

}