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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 | |
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24 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
25 | SendableChooser positionChooser; | |
26 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, | |
27 | positionFourDefense, positionFiveDefense; | |
28 | ||
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29 | @Override |
30 | public void robotInit() { | |
9742fe2e | 31 | driveTrain = new DriveTrain(); |
40348cab | 32 | shooter = new Shooter(); |
a96fa926 | 33 | intakeArm = new IntakeArm(); |
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34 | |
35 | oi = new OI(); | |
e2c4d3a5 | 36 | photogate = new Photogate(); |
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37 | |
38 | initializeSendableChoosers(); | |
39 | addPositionChooserOptions(); | |
40 | addDefensesToAllDefenseSendableChoosers(); | |
41 | sendSendableChoosersToSmartDashboard(); | |
42 | } | |
43 | ||
44 | private void initializeSendableChoosers() { | |
45 | positionChooser = new SendableChooser(); | |
46 | positionOneDefense = new SendableChooser(); | |
47 | positionTwoDefense = new SendableChooser(); | |
48 | positionThreeDefense = new SendableChooser(); | |
49 | positionFourDefense = new SendableChooser(); | |
50 | positionFiveDefense = new SendableChooser(); | |
51 | } | |
52 | ||
53 | private void addPositionChooserOptions() { | |
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54 | positionChooser.addDefault("None", 0); |
55 | positionChooser.addObject("Position 1", 1); | |
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56 | positionChooser.addObject("Position 2", 2); |
57 | positionChooser.addObject("Position 3", 3); | |
58 | positionChooser.addObject("Position 4", 4); | |
59 | positionChooser.addObject("Position 5", 5); | |
60 | } | |
61 | ||
62 | private void addDefensesToAllDefenseSendableChoosers() { | |
63 | addDefenseOptions(positionOneDefense); | |
64 | addDefenseOptions(positionTwoDefense); | |
65 | addDefenseOptions(positionThreeDefense); | |
66 | addDefenseOptions(positionFourDefense); | |
67 | addDefenseOptions(positionFiveDefense); | |
68 | } | |
69 | ||
70 | private void addDefenseOptions(SendableChooser chooser) { | |
71 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
72 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
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73 | chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " " |
74 | + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN); | |
949415d0 | 75 | chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR); |
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76 | chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE); |
77 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
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78 | chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME, |
79 | Defense.MOAT); | |
80 | chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " " | |
81 | + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL); | |
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82 | } |
83 | ||
84 | private void sendSendableChoosersToSmartDashboard() { | |
85 | SmartDashboard.putData("PositionChooser", positionChooser); | |
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86 | SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense); |
87 | SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense); | |
88 | SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense); | |
89 | SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense); | |
90 | SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense); | |
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92 | } |
93 | ||
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94 | @Override |
95 | public void autonomousInit() { | |
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96 | // get options chosen from drop down menu |
97 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
98 | Defense chosenDefense = null; | |
99 | ||
100 | if (chosenPosition == 1) | |
101 | chosenDefense = (Defense) positionOneDefense.getSelected(); | |
102 | else if (chosenPosition == 2) | |
103 | chosenDefense = (Defense) positionTwoDefense.getSelected(); | |
104 | else if (chosenPosition == 3) | |
105 | chosenDefense = (Defense) positionThreeDefense.getSelected(); | |
106 | else if (chosenPosition == 4) | |
107 | chosenDefense = (Defense) positionFourDefense.getSelected(); | |
108 | else if (chosenPosition == 5) | |
109 | chosenDefense = (Defense) positionFiveDefense.getSelected(); | |
110 | ||
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111 | if (chosenPosition != 0) |
112 | Scheduler.getInstance().add( | |
113 | new ChooseStrategy(chosenPosition, chosenDefense)); | |
114 | ||
115 | // Scheduler.getInstance().add(new TimeDrive(.6, 4)); | |
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116 | } |
117 | ||
118 | @Override | |
119 | public void autonomousPeriodic() { | |
120 | Scheduler.getInstance().run(); | |
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121 | } |
122 | ||
123 | @Override | |
124 | public void teleopInit() { | |
eeb6c3d9 | 125 | Scheduler.getInstance().add(new SetLowGear()); |
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126 | } |
127 | ||
128 | @Override | |
129 | public void teleopPeriodic() { | |
130 | Scheduler.getInstance().run(); | |
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131 | } |
132 | ||
38a404b3 | 133 | } |