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.JoystickDrive;
   5 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   6 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   7 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   8 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   9 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  10
  11 import edu.wpi.first.wpilibj.Compressor;
  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   public static Compressor compressor;
  28
  29   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  30   SendableChooser positionChooser;
  31   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  32       positionFourDefense, positionFiveDefense;
  33
  34   @Override
  35   public void robotInit() {
  36     driveTrain = new DriveTrain();
  37     oi = new OI();
  38
  39     // shooter = new Shooter();
  40     // scaler = new Scaler();
  41     // intakeArm = new IntakeArm();
  42     //
  43     // initializeSendableChoosers();
  44     // addPositionChooserOptions();
  45     // addDefensesToAllDefenseSendableChoosers();
  46     // sendSendableChoosersToSmartDashboard();
  47     compressor = new Compressor();
  48
  49   }
  50
  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
  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
  68   private void addDefensesToAllDefenseSendableChoosers() {
  69     addDefenseOptions(positionOneDefense);
  70     addDefenseOptions(positionTwoDefense);
  71     addDefenseOptions(positionThreeDefense);
  72     addDefenseOptions(positionFourDefense);
  73     addDefenseOptions(positionFiveDefense);
  74   }
  75
  76   private void addDefenseOptions(SendableChooser chooser) {
  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);
  85   }
  86
  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);
  93     SmartDashboard.putData("Position Four Defense Chooser",
  94         positionFourDefense);
  95     SmartDashboard.putData("Position Five Defense Chooser",
  96         positionFiveDefense);
  97
  98     SmartDashboard.putData("Position Four Defense Chooser",
  99         positionFourDefense);
 100     SmartDashboard.putData("Position Five Defense Chooser",
 101         positionFiveDefense);
 102
 103     shooter = new Shooter();
 104
 105   }
 106
 107   @Override
 108   public void autonomousInit() {
 109     Scheduler.getInstance().run();
 110
 111     // Scheduler.getInstance().add(new DriveDistance(24, 5));
 112     // Scheduler.getInstance().add(new DriveForTime(2, 0.3));
 113     // Scheduler.getInstance().add(new TurnForAngle(90, 5));
 114     // Scheduler.getInstance().add(
 115     // new TurnForTime(3, Constants.Direction.RIGHT, 0.3));
 116     // Scheduler.getInstance().add(
 117     // new TurnForTime(3, Constants.Direction.LEFT, 0.3));
 118     // Scheduler.getInstance().add(new Turn180());
 119   }
 120
 121   @Override
 122   public void autonomousPeriodic() {
 123     Scheduler.getInstance().run();
 124   }
 125
 126   @Override
 127   public void teleopInit() {
 128
 129     Scheduler.getInstance().add(new JoystickDrive());
 130     compressor.start();
 131     driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
 132     driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
 133   }
 134
 135   @Override
 136   public void teleopPeriodic() {
 137     Scheduler.getInstance().run();
 138   }
 139
 140 }