challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/Robot.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import org.usfirst.frc.team3501.robot.Constants.Defense;
   4 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   5 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   6 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   7
   8 import edu.wpi.first.wpilibj.IterativeRobot;
   9 import edu.wpi.first.wpilibj.command.Scheduler;
  10 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  11 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  12
  13 public class Robot extends IterativeRobot {
  14   public static OI oi;
  15   public static DriveTrain driveTrain;
  16   public static Shooter shooter;
  17   public static Scaler scaler;
  18
  19   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  20   SendableChooser positionChooser;
  21   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  22       positionFourDefense, positionFiveDefense;
  23
  24   @Override
  25   public void robotInit() {
  26     driveTrain = new DriveTrain();
  27     oi = new OI();
  28     shooter = new Shooter();
  29     scaler = new Scaler();
  30
  31     // Sendable Choosers allows the driver to select the position of the robot
  32     // and the positions of the defenses from a drop-down menu on the Smart
  33     // Dashboard
  34     // make the Sendable Choosers
  35     initializeSendableChoosers();
  36     addPositionChooserOptions();
  37     addDefensesToAllDefenseSendableChooosers();
  38     sendSendableChoosersToSmartDashboard();
  39
  40   }
  41
  42   private void initializeSendableChoosers() {
  43     positionChooser = new SendableChooser();
  44     positionOneDefense = new SendableChooser();
  45     positionTwoDefense = new SendableChooser();
  46     positionThreeDefense = new SendableChooser();
  47     positionFourDefense = new SendableChooser();
  48     positionFiveDefense = new SendableChooser();
  49   }
  50
  51   private void addPositionChooserOptions() {
  52     positionChooser.addDefault("Position 1", 1);
  53     positionChooser.addObject("Position 2", 2);
  54     positionChooser.addObject("Position 3", 3);
  55     positionChooser.addObject("Position 4", 4);
  56     positionChooser.addObject("Position 5", 5);
  57   }
  58
  59   private void addDefensesToAllDefenseSendableChooosers() {
  60     addDefenseOptions(positionOneDefense);
  61     addDefenseOptions(positionTwoDefense);
  62     addDefenseOptions(positionThreeDefense);
  63     addDefenseOptions(positionFourDefense);
  64     addDefenseOptions(positionFiveDefense);
  65   }
  66
  67   private void addDefenseOptions(SendableChooser chooser) {
  68     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  69     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  70     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  71     chooser.addObject("Low Bar", Defense.LOW_BAR);
  72     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  73     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  74     chooser.addObject("Moat", Defense.MOAT);
  75     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  76   }
  77
  78   private void sendSendableChoosersToSmartDashboard() {
  79     SmartDashboard.putData("PositionChooser", positionChooser);
  80     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  81     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  82     SmartDashboard.putData("Position Three Defense Chooser",
  83         positionThreeDefense);
  84     SmartDashboard.putData("Position Four Defense Chooser",
  85         positionFourDefense);
  86     SmartDashboard.putData("Position Five Defense Chooser",
  87         positionFiveDefense);
  88   }
  89
  90   @Override
  91   public void autonomousInit() {
  92     Scheduler.getInstance().run();
  93
  94     // get options chosen from drop down menu
  95     Integer chosenPosition = (Integer) positionChooser.getSelected();
  96     Integer chosenDefense = 0;
  97
  98     switch (chosenPosition) {
  99     case 1:
 100       chosenDefense = (Integer) positionOneDefense.getSelected();
 101     case 2:
 102       chosenDefense = (Integer) positionTwoDefense.getSelected();
 103     case 3:
 104       chosenDefense = (Integer) positionThreeDefense.getSelected();
 105     case 4:
 106       chosenDefense = (Integer) positionFourDefense.getSelected();
 107     case 5:
 108       chosenDefense = (Integer) positionFiveDefense.getSelected();
 109     }
 110
 111     System.out.println("Chosen Position: " + chosenPosition);
 112     System.out.println("Chosen Defense: " + chosenDefense);
 113   }
 114
 115   @Override
 116   public void autonomousPeriodic() {
 117     Scheduler.getInstance().run();
 118   }
 119
 120   @Override
 121   public void teleopInit() {
 122   }
 123
 124   @Override
 125   public void teleopPeriodic() {
 126     Scheduler.getInstance().run();
 127
 128   }
 129 }