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.Auton;
   4 import org.usfirst.frc.team3501.robot.Constants.Defense;
   5 import org.usfirst.frc.team3501.robot.commands.auton.ChooseStrategy;
   6 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   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.Shooter;
  10
  11 import edu.wpi.first.wpilibj.IterativeRobot;
  12 import edu.wpi.first.wpilibj.command.Scheduler;
  13 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  14 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  15
  16 public class Robot extends IterativeRobot {
  17   public static OI oi;
  18   public static DriveTrain driveTrain;
  19   public static Shooter shooter;
  20   public static IntakeArm intakeArm;
  21
  22   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  23   SendableChooser positionChooser;
  24   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  25       positionFourDefense, positionFiveDefense;
  26
  27   @Override
  28   public void robotInit() {
  29     driveTrain = new DriveTrain();
  30     shooter = new Shooter();
  31     intakeArm = new IntakeArm();
  32
  33     oi = new OI();
  34
  35     initializeSendableChoosers();
  36     addPositionChooserOptions();
  37     addDefensesToAllDefenseSendableChoosers();
  38     sendSendableChoosersToSmartDashboard();
  39   }
  40
  41   private void initializeSendableChoosers() {
  42     positionChooser = new SendableChooser();
  43     positionOneDefense = new SendableChooser();
  44     positionTwoDefense = new SendableChooser();
  45     positionThreeDefense = new SendableChooser();
  46     positionFourDefense = new SendableChooser();
  47     positionFiveDefense = new SendableChooser();
  48   }
  49
  50   private void addPositionChooserOptions() {
  51     positionChooser.addDefault("None", 0);
  52     positionChooser.addObject("Position 1", 1);
  53     positionChooser.addObject("Position 2", 2);
  54     positionChooser.addObject("Position 3", 3);
  55     positionChooser.addObject("Position 4", 4);
  56     positionChooser.addObject("Position 5", 5);
  57   }
  58
  59   private void addDefensesToAllDefenseSendableChoosers() {
  60     addDefenseOptions(positionOneDefense);
  61     addDefenseOptions(positionTwoDefense);
  62     addDefenseOptions(positionThreeDefense);
  63     addDefenseOptions(positionFourDefense);
  64     addDefenseOptions(positionFiveDefense);
  65   }
  66
  67   private void addDefenseOptions(SendableChooser chooser) {
  68     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  69     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  70     chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
  71         + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
  72     chooser.addObject("Low Bar" + Auton.LOW_BAR_SPEED + " "
  73         + Auton.LOW_BAR_TIME, Defense.LOW_BAR);
  74     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
  75     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  76     chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
  77         Defense.MOAT);
  78     chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
  79         + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
  80   }
  81
  82   private void sendSendableChoosersToSmartDashboard() {
  83     SmartDashboard.putData("PositionChooser", positionChooser);
  84     SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
  85     SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
  86     SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
  87     SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
  88     SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
  89
  90   }
  91
  92   @Override
  93   public void autonomousInit() {
  94     // get options chosen from drop down menu
  95     Integer chosenPosition = (Integer) positionChooser.getSelected();
  96     Defense chosenDefense = null;
  97
  98     if (chosenPosition == 1)
  99       chosenDefense = (Defense) positionOneDefense.getSelected();
 100     else if (chosenPosition == 2)
 101       chosenDefense = (Defense) positionTwoDefense.getSelected();
 102     else if (chosenPosition == 3)
 103       chosenDefense = (Defense) positionThreeDefense.getSelected();
 104     else if (chosenPosition == 4)
 105       chosenDefense = (Defense) positionFourDefense.getSelected();
 106     else if (chosenPosition == 5)
 107       chosenDefense = (Defense) positionFiveDefense.getSelected();
 108
 109     if (chosenPosition != 0)
 110       Scheduler.getInstance().add(
 111           new ChooseStrategy(chosenPosition, chosenDefense));
 112
 113     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
 114   }
 115
 116   @Override
 117   public void autonomousPeriodic() {
 118     Scheduler.getInstance().run();
 119   }
 120
 121   @Override
 122   public void teleopInit() {
 123     Scheduler.getInstance().add(new SetLowGear());
 124   }
 125
 126   @Override
 127   public void teleopPeriodic() {
 128     Scheduler.getInstance().run();
 129   }
 130
 131 }