add code for switching b/w cameras

[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.auton.ChooseStrategy;
import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;

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 IntakeArm intakeArm;
  public static Photogate photogate;
  public static CameraFeeds cameraFeeds;

  // Sendable Choosers send a drop down menu to the Smart Dashboard.
  private static SendableChooser defenseChooser;
  private static SendableChooser frontChooser;
  boolean choseIntakeIsFront;

  @Override
  public void robotInit() {
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    intakeArm = new IntakeArm();
    photogate = new Photogate();
    cameraFeeds = new CameraFeeds();

    oi = new OI();

    defenseChooser = new SendableChooser();
    addDefenseOptions(defenseChooser);
    SmartDashboard.putData("Defense Chooser", defenseChooser);

    frontChooser = new SendableChooser();
    addFrontChooserOptions();
    SmartDashboard.putData("Front Chooser", frontChooser);
  }

  private void addFrontChooserOptions() {
    frontChooser.addDefault("Intake is Back", false);
    frontChooser.addObject("Intake is True", true);
  }

  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("Chival De Frise", Defense.CHIVAL_DE_FRISE);
    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
    chooser.addObject("Moat", Defense.MOAT);
    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
    chooser.addObject("No Auton", Defense.NONE);
  }

  @Override
  public void autonomousInit() {
    Defense chosenDefense = (Defense) (defenseChooser.getSelected());
    choseIntakeIsFront = (boolean) frontChooser.getSelected();

    // if the shooter is not the front (intake is front) - toggle the drivetrain
    if (choseIntakeIsFront)
      driveTrain.toggleFlipped();

    Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));

    // Scheduler.getInstance().add(new TimeDrive(.6, 4));

  }

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

  @Override
  public void teleopInit() {
    // if intake is front, switch back to shooter as front
    // this is done on purpose!
    if (choseIntakeIsFront)
      driveTrain.toggleFlipped();

    cameraFeeds.init();
    Scheduler.getInstance().add(new SetLowGear());
  }

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

}