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,
  20       positionFourDefense, positionFiveDefense;
  21
  22   @Override
  23   public void robotInit() {
  24     driveTrain = new DriveTrain();
  25     oi = new OI();
  26     shooter = new Shooter();
  27
  28     initializeSendableChoosers();
  29
  30     // add options for positions to the positionChooser
  31     positionChooser.addDefault("Position 1", 1);
  32     positionChooser.addObject("Position 2", 2);
  33     positionChooser.addObject("Position 3", 3);
  34     positionChooser.addObject("Position 4", 4);
  35     positionChooser.addObject("Position 5", 5);
  36
  37     // add options for defenses into each defense chooser (5)
  38     addDefense(positionOneDefense);
  39     addDefense(positionTwoDefense);
  40     addDefense(positionThreeDefense);
  41     addDefense(positionFourDefense);
  42     addDefense(positionFiveDefense);
  43
  44     // send the Sendable Choosers to the Smart Dashboard
  45     // Sendable Choosers allows the driver to select the position of the robot
  46     // and the positions of the defenses from a drop-down menu on the Smart
  47     // Dashboard
  48     SmartDashboard.putData("PositionChooser", positionChooser);
  49     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  50     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  51     SmartDashboard.putData("Position Three Defense Chooser",
  52         positionThreeDefense);
  53     SmartDashboard.putData("Position Four Defense Chooser",
  54         positionFourDefense);
  55     SmartDashboard.putData("Position Five Defense Chooser",
  56         positionFiveDefense);
  57   }
  58
  59   // initialize all the Sendable Choosers
  60   private void initializeSendableChoosers() {
  61     positionChooser = new SendableChooser();
  62     positionOneDefense = new SendableChooser();
  63     positionTwoDefense = new SendableChooser();
  64     positionThreeDefense = new SendableChooser();
  65     positionFourDefense = new SendableChooser();
  66     positionFiveDefense = new SendableChooser();
  67   }
  68
  69   private void addDefense(SendableChooser chooser) {
  70     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  71     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  72     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  73     chooser.addObject("Low Bar", Defense.LOW_BAR);
  74     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  75     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  76     chooser.addObject("Moat", Defense.MOAT);
  77     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  78   }
  79
  80   @Override
  81   public void autonomousInit() {
  82     Scheduler.getInstance().run();
  83
  84     // get options chosen from drop down menu
  85     Integer chosenPosition = (Integer) positionChooser.getSelected();
  86     Integer chosenDefense = 0;
  87
  88     switch (chosenPosition) {
  89     case 1:
  90       chosenDefense = (Integer) positionOneDefense.getSelected();
  91     case 2:
  92       chosenDefense = (Integer) positionTwoDefense.getSelected();
  93     case 3:
  94       chosenDefense = (Integer) positionThreeDefense.getSelected();
  95     case 4:
  96       chosenDefense = (Integer) positionFourDefense.getSelected();
  97     case 5:
  98       chosenDefense = (Integer) positionFiveDefense.getSelected();
  99     }
 100
 101     System.out.println("Chosen Position: " + chosenPosition);
 102     System.out.println("Chosen Defense: " + chosenDefense);
 103   }
 104
 105   @Override
 106   public void autonomousPeriodic() {
 107     Scheduler.getInstance().run();
 108   }
 109
 110   @Override
 111   public void teleopInit() {
 112   }
 113
 114   @Override
 115   public void teleopPeriodic() {
 116     Scheduler.getInstance().run();
 117
 118   }
 119 }