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