Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
2947642e | 4 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 5 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 6 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 7 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
40348cab E |
8 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
9 | ||
38a404b3 KZ |
10 | import edu.wpi.first.wpilibj.IterativeRobot; |
11 | import edu.wpi.first.wpilibj.command.Scheduler; | |
3366a59a ME |
12 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
13 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
38a404b3 KZ |
14 | |
15 | public class Robot extends IterativeRobot { | |
16 | public static OI oi; | |
17 | public static DriveTrain driveTrain; | |
40348cab | 18 | public static Shooter shooter; |
2c9f5abb | 19 | |
02cb494e | 20 | public static Scaler scaler; |
c97fbce2 | 21 | |
a96fa926 | 22 | public static IntakeArm intakeArm; |
200caf63 | 23 | public static DefenseArm defenseArm; |
38a404b3 | 24 | |
88e66b4e | 25 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 26 | SendableChooser positionChooser; |
6947c8a4 | 27 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
c58ba1d7 | 28 | positionFourDefense, positionFiveDefense; |
3366a59a | 29 | |
38a404b3 KZ |
30 | @Override |
31 | public void robotInit() { | |
9742fe2e KZ |
32 | driveTrain = new DriveTrain(); |
33 | oi = new OI(); | |
2ac0cc17 | 34 | |
1e41dfe4 HD |
35 | shooter = new Shooter(); |
36 | ||
4f03bb55 CZ |
37 | // shooter = new Shooter(); |
38 | // scaler = new Scaler(); | |
39 | // intakeArm = new IntakeArm(); | |
40 | // | |
41 | // initializeSendableChoosers(); | |
42 | // addPositionChooserOptions(); | |
43 | // addDefensesToAllDefenseSendableChoosers(); | |
44 | // sendSendableChoosersToSmartDashboard(); | |
9742fe2e | 45 | |
3366a59a ME |
46 | } |
47 | ||
6947c8a4 ME |
48 | private void initializeSendableChoosers() { |
49 | positionChooser = new SendableChooser(); | |
50 | positionOneDefense = new SendableChooser(); | |
51 | positionTwoDefense = new SendableChooser(); | |
52 | positionThreeDefense = new SendableChooser(); | |
53 | positionFourDefense = new SendableChooser(); | |
54 | positionFiveDefense = new SendableChooser(); | |
55 | } | |
56 | ||
29d59f48 ME |
57 | private void addPositionChooserOptions() { |
58 | positionChooser.addDefault("Position 1", 1); | |
59 | positionChooser.addObject("Position 2", 2); | |
60 | positionChooser.addObject("Position 3", 3); | |
61 | positionChooser.addObject("Position 4", 4); | |
62 | positionChooser.addObject("Position 5", 5); | |
63 | } | |
64 | ||
9742fe2e | 65 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
66 | addDefenseOptions(positionOneDefense); |
67 | addDefenseOptions(positionTwoDefense); | |
68 | addDefenseOptions(positionThreeDefense); | |
69 | addDefenseOptions(positionFourDefense); | |
70 | addDefenseOptions(positionFiveDefense); | |
71 | } | |
72 | ||
73 | private void addDefenseOptions(SendableChooser chooser) { | |
3366a59a ME |
74 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
75 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
76 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
77 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
78 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
79 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
80 | chooser.addObject("Moat", Defense.MOAT); | |
81 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
38a404b3 KZ |
82 | } |
83 | ||
29d59f48 ME |
84 | private void sendSendableChoosersToSmartDashboard() { |
85 | SmartDashboard.putData("PositionChooser", positionChooser); | |
86 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
87 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
88 | SmartDashboard.putData("Position Three Defense Chooser", | |
89 | positionThreeDefense); | |
c58ba1d7 HD |
90 | SmartDashboard |
91 | .putData("Position Four Defense Chooser", positionFourDefense); | |
92 | SmartDashboard | |
93 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
94 | ||
95 | SmartDashboard | |
96 | .putData("Position Four Defense Chooser", positionFourDefense); | |
97 | SmartDashboard | |
98 | .putData("Position Five Defense Chooser", positionFiveDefense); | |
e23bfd98 | 99 | |
29d59f48 ME |
100 | } |
101 | ||
38a404b3 KZ |
102 | @Override |
103 | public void autonomousInit() { | |
3366a59a ME |
104 | Scheduler.getInstance().run(); |
105 | ||
c442f9db | 106 | // Scheduler.getInstance().add(new DriveDistance(24, 5)); |
4f03bb55 CZ |
107 | // Scheduler.getInstance().add(new DriveForTime(2, 0.3)); |
108 | // Scheduler.getInstance().add(new TurnForAngle(90, 5)); | |
109 | // Scheduler.getInstance().add( | |
110 | // new TurnForTime(3, Constants.Direction.RIGHT, 0.3)); | |
111 | // Scheduler.getInstance().add( | |
112 | // new TurnForTime(3, Constants.Direction.LEFT, 0.3)); | |
4f03bb55 | 113 | // Scheduler.getInstance().add(new Turn180()); |
38a404b3 KZ |
114 | } |
115 | ||
6c72e0a8 KZ |
116 | @Override |
117 | public void autonomousPeriodic() { | |
118 | Scheduler.getInstance().run(); | |
119 | } | |
120 | ||
c442f9db CZ |
121 | @Override |
122 | public void teleopInit() { | |
86d7310b | 123 | Robot.driveTrain.setLowGear(); |
1e41dfe4 | 124 | Robot.shooter.raiseHood(); |
c442f9db CZ |
125 | } |
126 | ||
38a404b3 KZ |
127 | @Override |
128 | public void teleopPeriodic() { | |
129 | Scheduler.getInstance().run(); | |
93241e25 | 130 | if (OI.rightJoystick.getTrigger()) { |
1e41dfe4 | 131 | Robot.shooter.setSpeed(.8); |
93241e25 HD |
132 | } else { |
133 | Robot.shooter.setSpeed(0); | |
134 | } | |
1e41dfe4 HD |
135 | if (OI.rightJoystick.getRawButton(2)) { |
136 | Robot.shooter.extendPunch(); | |
137 | } else { | |
138 | Robot.shooter.retractPunch(); | |
139 | ||
140 | } | |
1e039ebd E |
141 | } |
142 | ||
38a404b3 | 143 | } |