Switch all methods of gyro to Robot class so DriveTrain does not have to be depended...

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

package org.usfirst.frc.team3501.robot;

import org.usfirst.frc.team3501.robot.Constants.Defense;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

import edu.wpi.first.wpilibj.I2C;
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 Scaler scaler;

  public static IntakeArm intakeArm;
  public static DefenseArm defenseArm;

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

  // Gyro stuff
  private final static double NANOSECONDS_PER_SECOND = 1000000000;
  short rawValue;
  public FirebotGyro gyro;

  double initialSpeedNanoseconds;
  double finalSpeedNanoseconds;
  double initialSpeedSeconds;
  double finalSpeedSeconds;
  double deltaSpeed;
  double degrees;

  @Override
  public void robotInit() {
    // driveTrain = new DriveTrain();
    gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
    // oi = new OI();

    shooter = new Shooter();
    scaler = new Scaler();
    intakeArm = new IntakeArm();

    // Sendable Choosers allows the driver to select the position of the
    // robot
    // and the positions of the defenses from a drop-down menu on the Smart
    // Dashboard
    // make the Sendable Choosers
    initializeSendableChoosers();
    addPositionChooserOptions();
    addDefensesToAllDefenseSendableChooosers();
    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("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 addDefensesToAllDefenseSendableChooosers() {
    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", Defense.ROUGH_TERRAIN);
    chooser.addObject("Low Bar", Defense.LOW_BAR);
    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
    chooser.addObject("Moat", Defense.MOAT);
    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  }

  private void sendSendableChoosersToSmartDashboard() {
    SmartDashboard.putData("PositionChooser", positionChooser);
    SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
    SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
    SmartDashboard.putData("Position Three Defense Chooser",
        positionThreeDefense);
    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);
    SmartDashboard.putData("Position Four Defense Chooser",
        positionFourDefense);
    SmartDashboard.putData("Position Five Defense Chooser",
        positionFiveDefense);

    shooter = new Shooter();
  }

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

    // get options chosen from drop down menu
    Integer chosenPosition = (Integer) positionChooser.getSelected();
    Integer chosenDefense = 0;

    switch (chosenPosition) {
    case 1:
      chosenDefense = (Integer) positionOneDefense.getSelected();
    case 2:
      chosenDefense = (Integer) positionTwoDefense.getSelected();
    case 3:
      chosenDefense = (Integer) positionThreeDefense.getSelected();
    case 4:
      chosenDefense = (Integer) positionFourDefense.getSelected();
    case 5:
      chosenDefense = (Integer) positionFiveDefense.getSelected();
    }

    System.out.println("Chosen Position: " + chosenPosition);
    System.out.println("Chosen Defense: " + chosenDefense);
  }

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

  @Override
  public void teleopInit() {
  }

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