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.commands.driving.SetLowGear;
   4 import org.usfirst.frc.team3501.robot.commands.driving.TimeDrive;
   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.Shooter;
   8
   9 import edu.wpi.first.wpilibj.CameraServer;
  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;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19   public static IntakeArm intakeArm;
  20
  21   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  22   private static SendableChooser frontChooser;
  23   private static CameraServer camera;
  24
  25   @Override
  26   public void robotInit() {
  27     driveTrain = new DriveTrain();
  28     shooter = new Shooter();
  29     intakeArm = new IntakeArm();
  30
  31     oi = new OI();
  32
  33     initializeSendableChooser();
  34     addFrontChooserOptions();
  35     sendSendableChooserToSmartDashboard();
  36
  37     camera = CameraServer.getInstance();
  38     camera.setQuality(50);
  39     camera.startAutomaticCapture("cam0");
  40   }
  41
  42   private void initializeSendableChooser() {
  43     frontChooser = new SendableChooser();
  44   }
  45
  46   private void addFrontChooserOptions() {
  47     frontChooser.addDefault("Intake", false);
  48     frontChooser.addObject("Shooter", true);
  49   }
  50
  51   private void sendSendableChooserToSmartDashboard() {
  52     SmartDashboard.putData("PositionChooser", frontChooser);
  53   }
  54
  55   @Override
  56   public void autonomousInit() {
  57     // get options chosen from drop down menu
  58     boolean flip = (boolean) frontChooser.getSelected();
  59
  60     if (flip) {
  61       driveTrain.toggleFlipped();
  62     }
  63
  64     Scheduler.getInstance().add(new TimeDrive(4, .7));
  65   }
  66
  67   @Override
  68   public void autonomousPeriodic() {
  69     Scheduler.getInstance().run();
  70   }
  71
  72   @Override
  73   public void teleopInit() {
  74     Scheduler.getInstance().add(new SetLowGear());
  75   }
  76
  77   @Override
  78   public void teleopPeriodic() {
  79     Scheduler.getInstance().run();
  80   }
  81
  82 }