Add testing stuff

[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.commands.driving.JoystickDrive;
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.Compressor;
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;

  public static Compressor compressor;

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

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    oi = new OI();

    // shooter = new Shooter();
    // scaler = new Scaler();
    // intakeArm = new IntakeArm();
    //
    // initializeSendableChoosers();
    // addPositionChooserOptions();
    // addDefensesToAllDefenseSendableChoosers();
    // sendSendableChoosersToSmartDashboard();
    compressor = new Compressor();

  }

  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 addDefensesToAllDefenseSendableChoosers() {
    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();

    // Scheduler.getInstance().add(new DriveDistance(24, 5));
    // Scheduler.getInstance().add(new DriveForTime(2, 0.3));
    // Scheduler.getInstance().add(new TurnForAngle(90, 5));
    // Scheduler.getInstance().add(
    // new TurnForTime(3, Constants.Direction.RIGHT, 0.3));
    // Scheduler.getInstance().add(
    // new TurnForTime(3, Constants.Direction.LEFT, 0.3));
    // Scheduler.getInstance().add(new Turn180());
  }

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

  @Override
  public void teleopInit() {

    Scheduler.getInstance().add(new JoystickDrive());
    compressor.start();
    driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
    driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
  }

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

}