Commit | Line | Data |
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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
53d61b3e | 3 | import org.usfirst.frc.team3501.robot.Constants.Defense; |
e4fbab02 | 4 | import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult; |
2947642e | 5 | import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; |
047383c3 | 6 | import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; |
e47f0862 | 7 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
02cb494e | 8 | import org.usfirst.frc.team3501.robot.subsystems.Scaler; |
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9 | import org.usfirst.frc.team3501.robot.subsystems.Shooter; |
10 | ||
bb571221 LM |
11 | import edu.wpi.first.wpilibj.I2C; |
12 | import edu.wpi.first.wpilibj.I2C.Port; | |
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13 | import edu.wpi.first.wpilibj.IterativeRobot; |
14 | import edu.wpi.first.wpilibj.command.Scheduler; | |
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15 | import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; |
16 | import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
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17 | |
18 | public class Robot extends IterativeRobot { | |
19 | public static OI oi; | |
20 | public static DriveTrain driveTrain; | |
40348cab | 21 | public static Shooter shooter; |
2c9f5abb | 22 | |
02cb494e | 23 | public static Scaler scaler; |
c97fbce2 | 24 | |
a96fa926 | 25 | public static IntakeArm intakeArm; |
200caf63 | 26 | public static DefenseArm defenseArm; |
38a404b3 | 27 | |
bb571221 | 28 | static I2C Wire = new I2C(Port.kOnboard, 42); |
bb571221 | 29 | |
88e66b4e | 30 | // Sendable Choosers send a drop down menu to the Smart Dashboard. |
3366a59a | 31 | SendableChooser positionChooser; |
6947c8a4 | 32 | SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, |
53f43a72 | 33 | positionFourDefense, positionFiveDefense; |
3366a59a | 34 | |
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35 | @Override |
36 | public void robotInit() { | |
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37 | driveTrain = new DriveTrain(); |
38 | oi = new OI(); | |
2ac0cc17 | 39 | |
40348cab | 40 | shooter = new Shooter(); |
02cb494e | 41 | scaler = new Scaler(); |
a96fa926 | 42 | intakeArm = new IntakeArm(); |
3366a59a | 43 | |
9742fe2e KZ |
44 | initializeSendableChoosers(); |
45 | addPositionChooserOptions(); | |
46 | addDefensesToAllDefenseSendableChoosers(); | |
47 | sendSendableChoosersToSmartDashboard(); | |
48 | ||
3366a59a ME |
49 | } |
50 | ||
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51 | private void initializeSendableChoosers() { |
52 | positionChooser = new SendableChooser(); | |
53 | positionOneDefense = new SendableChooser(); | |
54 | positionTwoDefense = new SendableChooser(); | |
55 | positionThreeDefense = new SendableChooser(); | |
56 | positionFourDefense = new SendableChooser(); | |
57 | positionFiveDefense = new SendableChooser(); | |
58 | } | |
59 | ||
29d59f48 ME |
60 | private void addPositionChooserOptions() { |
61 | positionChooser.addDefault("Position 1", 1); | |
62 | positionChooser.addObject("Position 2", 2); | |
63 | positionChooser.addObject("Position 3", 3); | |
64 | positionChooser.addObject("Position 4", 4); | |
65 | positionChooser.addObject("Position 5", 5); | |
66 | } | |
67 | ||
9742fe2e | 68 | private void addDefensesToAllDefenseSendableChoosers() { |
29d59f48 ME |
69 | addDefenseOptions(positionOneDefense); |
70 | addDefenseOptions(positionTwoDefense); | |
71 | addDefenseOptions(positionThreeDefense); | |
72 | addDefenseOptions(positionFourDefense); | |
73 | addDefenseOptions(positionFiveDefense); | |
74 | } | |
75 | ||
76 | private void addDefenseOptions(SendableChooser chooser) { | |
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77 | chooser.addDefault("Portcullis", Defense.PORTCULLIS); |
78 | chooser.addObject("Sally Port", Defense.SALLY_PORT); | |
79 | chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN); | |
80 | chooser.addObject("Low Bar", Defense.LOW_BAR); | |
81 | chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE); | |
82 | chooser.addObject("Drawbridge", Defense.DRAWBRIDGE); | |
83 | chooser.addObject("Moat", Defense.MOAT); | |
84 | chooser.addObject("Rock Wall", Defense.ROCK_WALL); | |
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85 | } |
86 | ||
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87 | private void sendSendableChoosersToSmartDashboard() { |
88 | SmartDashboard.putData("PositionChooser", positionChooser); | |
89 | SmartDashboard.putData("Position One Defense Chooser", positionOneDefense); | |
90 | SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense); | |
91 | SmartDashboard.putData("Position Three Defense Chooser", | |
92 | positionThreeDefense); | |
bb571221 LM |
93 | SmartDashboard.putData("Position Four Defense Chooser", |
94 | positionFourDefense); | |
95 | SmartDashboard.putData("Position Five Defense Chooser", | |
96 | positionFiveDefense); | |
d06ee698 | 97 | |
bb571221 LM |
98 | SmartDashboard.putData("Position Four Defense Chooser", |
99 | positionFourDefense); | |
100 | SmartDashboard.putData("Position Five Defense Chooser", | |
101 | positionFiveDefense); | |
e23bfd98 E |
102 | |
103 | shooter = new Shooter(); | |
d06ee698 | 104 | |
29d59f48 ME |
105 | } |
106 | ||
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107 | @Override |
108 | public void autonomousInit() { | |
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109 | Scheduler.getInstance().run(); |
110 | ||
111 | // get options chosen from drop down menu | |
112 | Integer chosenPosition = (Integer) positionChooser.getSelected(); | |
e13d2293 | 113 | Integer chosenDefense = 0; |
3366a59a | 114 | |
ee177a4a | 115 | if (chosenPosition == 1) |
3366a59a | 116 | chosenDefense = (Integer) positionOneDefense.getSelected(); |
ee177a4a | 117 | else if (chosenPosition == 2) |
3366a59a | 118 | chosenDefense = (Integer) positionTwoDefense.getSelected(); |
ee177a4a | 119 | else if (chosenPosition == 3) |
3366a59a | 120 | chosenDefense = (Integer) positionThreeDefense.getSelected(); |
ee177a4a | 121 | else if (chosenPosition == 4) |
3366a59a | 122 | chosenDefense = (Integer) positionFourDefense.getSelected(); |
ee177a4a | 123 | else if (chosenPosition == 5) |
3366a59a ME |
124 | chosenDefense = (Integer) positionFiveDefense.getSelected(); |
125 | ||
126 | System.out.println("Chosen Position: " + chosenPosition); | |
127 | System.out.println("Chosen Defense: " + chosenDefense); | |
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128 | } |
129 | ||
130 | @Override | |
131 | public void autonomousPeriodic() { | |
132 | Scheduler.getInstance().run(); | |
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133 | } |
134 | ||
135 | @Override | |
136 | public void teleopInit() { | |
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137 | Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start |
138 | // of each match. | |
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139 | } |
140 | ||
141 | @Override | |
142 | public void teleopPeriodic() { | |
143 | Scheduler.getInstance().run(); | |
e458b515 LM |
144 | String WriteString = "go"; |
145 | char[] CharArray = WriteString.toCharArray(); | |
146 | byte[] WriteData = new byte[CharArray.length]; | |
147 | for (int i = 0; i < CharArray.length; i++) { | |
148 | WriteData[i] = (byte) CharArray[i]; | |
bb571221 | 149 | } |
e458b515 | 150 | Wire.transaction(WriteData, WriteData.length, null, 0); |
1e039ebd E |
151 | } |
152 | ||
38a404b3 | 153 | } |