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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
b378dfef | 3 | import org.usfirst.frc.team3501.robot.Constants.Auton; |
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4 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
5 | import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy; | |
eeb6c3d9 | 6 | import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear; |
e2c4d3a5 | 7 | import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate; |
047383c3 | 8 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 9 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
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10 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
11 | ||
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12 | import edu.wpi.first.wpilibj.IterativeRobot; |
13 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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14 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
15 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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16 | |
17 | public class Robot extends IterativeRobot { | |
18 | public static OI oi; | |
19 | public static DriveTrain driveTrain; | |
40348cab | 20 | public static Shooter shooter; |
a96fa926 | 21 | public static IntakeArm intakeArm; |
e2c4d3a5 | 22 | public static Photogate photogate; |
3366a59a | 23 | |
9e9154af | 24 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
de0cd1ce | 25 | SendableChooser defenseChooser; |
9e9154af | 26 | |
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27 | @Override |
28 | public void robotInit() { | |
9742fe2e | 29 | driveTrain = new DriveTrain(); |
40348cab | 30 | shooter = new Shooter(); |
a96fa926 | 31 | intakeArm = new IntakeArm(); |
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32 | |
33 | oi = new OI(); | |
e2c4d3a5 | 34 | photogate = new Photogate(); |
9e9154af | 35 | |
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36 | defenseChooser = new SendableChooser(); |
37 | addDefenseOptions(defenseChooser); | |
38 | SmartDashboard.putData("Defense Chooser", defenseChooser); | |
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39 | } |
40 | ||
41 | private void addDefenseOptions(SendableChooser chooser) { | |
42 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
43 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
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44 | chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " " |
45 | + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN); | |
949415d0 | 46 | chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR); |
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47 | chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE); |
48 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
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49 | chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME, |
50 | Defense.MOAT); | |
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51 | chooser.addObject( |
52 | "Rock Wall" + Auton.ROCK_WALL_SPEED + " " + Auton.ROCK_WALL_TIME, | |
53 | Defense.ROCK_WALL); | |
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54 | } |
55 | ||
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56 | @Override |
57 | public void autonomousInit() { | |
de0cd1ce | 58 | Defense chosenDefense = (Defense) (defenseChooser.getSelected()); |
9e9154af | 59 | |
de0cd1ce | 60 | Scheduler.getInstance().add(new ChooseStrategy(chosenDefense)); |
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61 | |
62 | // Scheduler.getInstance().add(new TimeDrive(.6, 4)); | |
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63 | } |
64 | ||
65 | @Override | |
66 | public void autonomousPeriodic() { | |
67 | Scheduler.getInstance().run(); | |
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68 | } |
69 | ||
70 | @Override | |
71 | public void teleopInit() { | |
eeb6c3d9 | 72 | Scheduler.getInstance().add(new SetLowGear()); |
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73 | } |
74 | ||
75 | @Override | |
76 | public void teleopPeriodic() { | |
77 | Scheduler.getInstance().run(); | |
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78 | } |
79 | ||
38a404b3 | 80 | } |