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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; |
40348cab E |
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 | 18 | SendableChooser positionChooser; |
c4764b9d | 19 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense, positionFiveDefense; |
3366a59a | 20 | |
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21 | @Override |
22 | public void robotInit() { | |
23 | driveTrain = new DriveTrain(); | |
24 | oi = new OI(); | |
40348cab | 25 | shooter = new Shooter(); |
3366a59a | 26 | |
a0ff09b3 | 27 | // initialize all the Sendable Choosers |
3366a59a ME |
28 | positionChooser = new SendableChooser(); |
29 | positionOneDefense = new SendableChooser(); | |
30 | positionTwoDefense = new SendableChooser(); | |
31 | positionThreeDefense = new SendableChooser(); | |
32 | positionFourDefense = new SendableChooser(); | |
33 | positionFiveDefense = new SendableChooser(); | |
34 | ||
35 | // add options for positions to the positionChooser | |
36 | positionChooser.addDefault("Position 1", 1); | |
37 | positionChooser.addObject("Position 2", 2); | |
38 | positionChooser.addObject("Position 3", 3); | |
39 | positionChooser.addObject("Position 4", 4); | |
40 | positionChooser.addObject("Position 5", 5); | |
41 | ||
42 | // add options for defenses into each defense chooser (5) | |
43 | addDefense(positionOneDefense); | |
44 | addDefense(positionTwoDefense); | |
45 | addDefense(positionThreeDefense); | |
46 | addDefense(positionFourDefense); | |
47 | addDefense(positionFiveDefense); | |
48 | ||
e13d2293 | 49 | // send the Sendable Choosers to the Smart Dashboard |
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50 | // Sendable Choosers allows the driver to select the position of the robot |
51 | // and the positions of the defenses from a drop-down menu on the Smart | |
52 | // Dashboard | |
e13d2293 A |
53 | SmartDashboard.putData("PositionChooser", positionChooser); |
54 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
55 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
56 | SmartDashboard.putData("Position Three Defense Chooser", | |
57 | positionThreeDefense); | |
58 | SmartDashboard.putData("Position Four Defense Chooser", | |
59 | positionFourDefense); | |
60 | SmartDashboard.putData("Position Five Defense Chooser", | |
61 | positionFiveDefense); | |
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62 | } |
63 | ||
64 | private void addDefense(SendableChooser chooser) { | |
65 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
66 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
67 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
68 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
69 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
70 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
71 | chooser.addObject("Moat", Defense.MOAT); | |
72 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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73 | } |
74 | ||
75 | @Override | |
76 | public void autonomousInit() { | |
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77 | Scheduler.getInstance().run(); |
78 | ||
79 | // get options chosen from drop down menu | |
80 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 81 | Integer chosenDefense = 0; |
3366a59a | 82 | |
33981335 ME |
83 | switch (chosenPosition) { |
84 | case 1: | |
3366a59a | 85 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
33981335 | 86 | case 2: |
3366a59a | 87 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
33981335 | 88 | case 3: |
3366a59a | 89 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
33981335 | 90 | case 4: |
3366a59a | 91 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
33981335 | 92 | case 5: |
3366a59a | 93 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
33981335 | 94 | } |
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95 | |
96 | System.out.println("Chosen Position: " + chosenPosition); | |
97 | System.out.println("Chosen Defense: " + chosenDefense); | |
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98 | } |
99 | ||
100 | @Override | |
101 | public void autonomousPeriodic() { | |
102 | Scheduler.getInstance().run(); | |
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103 | } |
104 | ||
105 | @Override | |
106 | public void teleopInit() { | |
107 | } | |
108 | ||
109 | @Override | |
110 | public void teleopPeriodic() { | |
111 | Scheduler.getInstance().run(); | |
112 | ||
113 | } | |
114 | } |