1 package org
.usfirst
.frc
.team3501
.robot
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
.Defense
;
4 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.DefenseArm
;
5 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.DriveTrain
;
6 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.IntakeArm
;
7 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Scaler
;
8 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.Shooter
;
10 import edu
.wpi
.first
.wpilibj
.IterativeRobot
;
11 import edu
.wpi
.first
.wpilibj
.command
.Scheduler
;
12 import edu
.wpi
.first
.wpilibj
.smartdashboard
.SendableChooser
;
13 import edu
.wpi
.first
.wpilibj
.smartdashboard
.SmartDashboard
;
15 public class Robot
extends IterativeRobot
{
17 public static DriveTrain driveTrain
;
18 public static Shooter shooter
;
20 public static Scaler scaler
;
22 public static IntakeArm intakeArm
;
23 public static DefenseArm defenseArm
;
25 // Sendable Choosers send a drop down menu to the Smart Dashboard.
26 SendableChooser positionChooser
;
27 SendableChooser positionOneDefense
, positionTwoDefense
, positionThreeDefense
,
28 positionFourDefense
, positionFiveDefense
;
31 public void robotInit() {
32 driveTrain
= new DriveTrain();
35 // shooter = new Shooter();
36 // scaler = new Scaler();
37 // intakeArm = new IntakeArm();
39 // initializeSendableChoosers();
40 // addPositionChooserOptions();
41 // addDefensesToAllDefenseSendableChoosers();
42 // sendSendableChoosersToSmartDashboard();
46 private void initializeSendableChoosers() {
47 positionChooser
= new SendableChooser();
48 positionOneDefense
= new SendableChooser();
49 positionTwoDefense
= new SendableChooser();
50 positionThreeDefense
= new SendableChooser();
51 positionFourDefense
= new SendableChooser();
52 positionFiveDefense
= new SendableChooser();
55 private void addPositionChooserOptions() {
56 positionChooser
.addDefault("Position 1", 1);
57 positionChooser
.addObject("Position 2", 2);
58 positionChooser
.addObject("Position 3", 3);
59 positionChooser
.addObject("Position 4", 4);
60 positionChooser
.addObject("Position 5", 5);
63 private void addDefensesToAllDefenseSendableChoosers() {
64 addDefenseOptions(positionOneDefense
);
65 addDefenseOptions(positionTwoDefense
);
66 addDefenseOptions(positionThreeDefense
);
67 addDefenseOptions(positionFourDefense
);
68 addDefenseOptions(positionFiveDefense
);
71 private void addDefenseOptions(SendableChooser chooser
) {
72 chooser
.addDefault("Portcullis", Defense
.PORTCULLIS
);
73 chooser
.addObject("Sally Port", Defense
.SALLY_PORT
);
74 chooser
.addObject("Rough Terrain", Defense
.ROUGH_TERRAIN
);
75 chooser
.addObject("Low Bar", Defense
.LOW_BAR
);
76 chooser
.addObject("Cheval De Frise", Defense
.CHEVAL_DE_FRISE
);
77 chooser
.addObject("Drawbridge", Defense
.DRAWBRIDGE
);
78 chooser
.addObject("Moat", Defense
.MOAT
);
79 chooser
.addObject("Rock Wall", Defense
.ROCK_WALL
);
82 private void sendSendableChoosersToSmartDashboard() {
83 SmartDashboard
.putData("PositionChooser", positionChooser
);
84 SmartDashboard
.putData("Position One Defense Chooser", positionOneDefense
);
85 SmartDashboard
.putData("Position Two Defense Chooser", positionTwoDefense
);
86 SmartDashboard
.putData("Position Three Defense Chooser",
87 positionThreeDefense
);
88 SmartDashboard
.putData("Position Four Defense Chooser",
90 SmartDashboard
.putData("Position Five Defense Chooser",
93 SmartDashboard
.putData("Position Four Defense Chooser",
95 SmartDashboard
.putData("Position Five Defense Chooser",
98 shooter
= new Shooter();
103 public void autonomousInit() {
104 Scheduler
.getInstance().run();
106 // Scheduler.getInstance().add(new DriveDistance(24, 5));
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));
113 // Scheduler.getInstance().add(new Turn180());
117 public void autonomousPeriodic() {
118 Scheduler
.getInstance().run();
122 public void teleopInit() {
123 Scheduler
.getInstance().add(new JoystickDrive());
128 public void teleopPeriodic() {
129 Scheduler
.getInstance().run();