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.commands.driving.SetLowGear;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
   6 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   8 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   9 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
  10 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  11
  12 import edu.wpi.first.wpilibj.IterativeRobot;
  13 import edu.wpi.first.wpilibj.command.Scheduler;
  14 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  15 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  16
  17 public class Robot extends IterativeRobot {
  18   public static OI oi;
  19   public static DriveTrain driveTrain;
  20   public static Shooter shooter;
  21
  22   public static Scaler scaler;
  23
  24   public static IntakeArm intakeArm;
  25   public static DefenseArm defenseArm;
  26
  27   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  28   SendableChooser positionChooser;
  29   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  30       positionFourDefense, positionFiveDefense;
  31
  32   @Override
  33   public void robotInit() {
  34     driveTrain = new DriveTrain();
  35     oi = new OI();
  36
  37     shooter = new Shooter();
  38     scaler = new Scaler();
  39     intakeArm = new IntakeArm();
  40
  41     initializeSendableChoosers();
  42     addPositionChooserOptions();
  43     addDefensesToAllDefenseSendableChoosers();
  44     sendSendableChoosersToSmartDashboard();
  45
  46   }
  47
  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
  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
  65   private void addDefensesToAllDefenseSendableChoosers() {
  66     addDefenseOptions(positionOneDefense);
  67     addDefenseOptions(positionTwoDefense);
  68     addDefenseOptions(positionThreeDefense);
  69     addDefenseOptions(positionFourDefense);
  70     addDefenseOptions(positionFiveDefense);
  71   }
  72
  73   private void addDefenseOptions(SendableChooser chooser) {
  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);
  82   }
  83
  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);
  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);
  99
 100     shooter = new Shooter();
 101
 102   }
 103
 104   @Override
 105   public void autonomousInit() {
 106     Scheduler.getInstance().run();
 107
 108     // get options chosen from drop down menu
 109     Integer chosenPosition = (Integer) positionChooser.getSelected();
 110     Integer chosenDefense = 0;
 111
 112     if (chosenPosition == 1)
 113       chosenDefense = (Integer) positionOneDefense.getSelected();
 114     else if (chosenPosition == 2)
 115       chosenDefense = (Integer) positionTwoDefense.getSelected();
 116     else if (chosenPosition == 3)
 117       chosenDefense = (Integer) positionThreeDefense.getSelected();
 118     else if (chosenPosition == 4)
 119       chosenDefense = (Integer) positionFourDefense.getSelected();
 120     else if (chosenPosition == 5)
 121       chosenDefense = (Integer) positionFiveDefense.getSelected();
 122
 123     System.out.println("Chosen Position: " + chosenPosition);
 124     System.out.println("Chosen Defense: " + chosenDefense);
 125   }
 126
 127   @Override
 128   public void autonomousPeriodic() {
 129     Scheduler.getInstance().run();
 130   }
 131
 132   @Override
 133   public void teleopInit() {
 134     Scheduler.getInstance().add(new SetLowGear()); // Start each match in low
 135                                                    // gear
 136     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
 137                                                       // of each match.
 138   }
 139
 140   @Override
 141   public void teleopPeriodic() {
 142     Scheduler.getInstance().run();
 143   }
 144
 145 }