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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
4 | import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy; | |
eeb6c3d9 | 5 | import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear; |
e2c4d3a5 | 6 | import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate; |
047383c3 | 7 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 8 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
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9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
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11 | import edu.wpi.first.wpilibj.IterativeRobot; |
12 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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13 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
14 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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15 | |
16 | public class Robot extends IterativeRobot { | |
17 | public static OI oi; | |
18 | public static DriveTrain driveTrain; | |
40348cab | 19 | public static Shooter shooter; |
a96fa926 | 20 | public static IntakeArm intakeArm; |
e2c4d3a5 | 21 | public static Photogate photogate; |
3366a59a | 22 | |
9e9154af | 23 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
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24 | private static SendableChooser defenseChooser; |
25 | private static SendableChooser frontChooser; | |
26 | boolean choseIntakeIsFront; | |
9e9154af | 27 | |
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28 | @Override |
29 | public void robotInit() { | |
9742fe2e | 30 | driveTrain = new DriveTrain(); |
40348cab | 31 | shooter = new Shooter(); |
a96fa926 | 32 | intakeArm = new IntakeArm(); |
f675bae4 | 33 | photogate = new Photogate(); |
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34 | |
35 | oi = new OI(); | |
9e9154af | 36 | |
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37 | defenseChooser = new SendableChooser(); |
38 | addDefenseOptions(defenseChooser); | |
39 | SmartDashboard.putData("Defense Chooser", defenseChooser); | |
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40 | |
41 | frontChooser = new SendableChooser(); | |
42 | addFrontChooserOptions(); | |
43 | SmartDashboard.putData("Front Chooser", frontChooser); | |
44 | } | |
45 | ||
46 | private void addFrontChooserOptions() { | |
47 | frontChooser.addDefault("Intake is Back", false); | |
48 | frontChooser.addObject("Intake is True", true); | |
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49 | } |
50 | ||
51 | private void addDefenseOptions(SendableChooser chooser) { | |
52 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); | |
53 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
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54 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); |
55 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
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56 | chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE); |
57 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
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58 | chooser.addObject("Moat", Defense.MOAT); |
59 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
c62f7132 | 60 | chooser.addObject("No Auton", Defense.NONE); |
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61 | } |
62 | ||
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63 | @Override |
64 | public void autonomousInit() { | |
de0cd1ce | 65 | Defense chosenDefense = (Defense) (defenseChooser.getSelected()); |
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66 | choseIntakeIsFront = (boolean) frontChooser.getSelected(); |
67 | ||
68 | // if the shooter is not the front (intake is front) - toggle the drivetrain | |
69 | if (choseIntakeIsFront) | |
70 | driveTrain.toggleFlipped(); | |
9e9154af | 71 | |
de0cd1ce | 72 | Scheduler.getInstance().add(new ChooseStrategy(chosenDefense)); |
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73 | |
74 | // Scheduler.getInstance().add(new TimeDrive(.6, 4)); | |
157ea726 | 75 | |
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76 | } |
77 | ||
78 | @Override | |
79 | public void autonomousPeriodic() { | |
80 | Scheduler.getInstance().run(); | |
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81 | } |
82 | ||
83 | @Override | |
84 | public void teleopInit() { | |
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85 | // if intake is front, switch back to shooter as front |
86 | if (choseIntakeIsFront) | |
87 | driveTrain.toggleFlipped(); | |
88 | ||
eeb6c3d9 | 89 | Scheduler.getInstance().add(new SetLowGear()); |
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90 | } |
91 | ||
92 | @Override | |
93 | public void teleopPeriodic() { | |
94 | Scheduler.getInstance().run(); | |
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95 | } |
96 | ||
38a404b3 | 97 | } |