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.DefenseArm;
   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.Photogate;
   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.I2C;
  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 Photogate photogate;
  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   // Gyro stuff
  35   public GyroLib gyro;
  36
  37   @Override
  38   public void robotInit() {
  39     driveTrain = new DriveTrain();
  40     oi = new OI();
  41
  42     shooter = new Shooter();
  43     scaler = new Scaler();
  44     intakeArm = new IntakeArm();
  45
  46     // initializeSendableChoosers();
  47     // addPositionChooserOptions();
  48     // addDefensesToAllDefenseSendableChoosers();
  49     // sendSendableChoosersToSmartDashboard();
  50
  51   }
  52
  53   private void initializeSendableChoosers() {
  54     positionChooser = new SendableChooser();
  55     positionOneDefense = new SendableChooser();
  56     positionTwoDefense = new SendableChooser();
  57     positionThreeDefense = new SendableChooser();
  58     positionFourDefense = new SendableChooser();
  59     positionFiveDefense = new SendableChooser();
  60   }
  61
  62   private void addPositionChooserOptions() {
  63     positionChooser.addDefault("Position 1", 1);
  64     positionChooser.addObject("Position 2", 2);
  65     positionChooser.addObject("Position 3", 3);
  66     positionChooser.addObject("Position 4", 4);
  67     positionChooser.addObject("Position 5", 5);
  68   }
  69
  70   private void addDefensesToAllDefenseSendableChoosers() {
  71     addDefenseOptions(positionOneDefense);
  72     addDefenseOptions(positionTwoDefense);
  73     addDefenseOptions(positionThreeDefense);
  74     addDefenseOptions(positionFourDefense);
  75     addDefenseOptions(positionFiveDefense);
  76   }
  77
  78   private void addDefenseOptions(SendableChooser chooser) {
  79     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  80     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  81     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  82     chooser.addObject("Low Bar", Defense.LOW_BAR);
  83     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  84     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  85     chooser.addObject("Moat", Defense.MOAT);
  86     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  87   }
  88
  89   private void sendSendableChoosersToSmartDashboard() {
  90     SmartDashboard.putData("PositionChooser", positionChooser);
  91     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  92     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  93     SmartDashboard.putData("Position Three Defense Chooser",
  94         positionThreeDefense);
  95     SmartDashboard
  96         .putData("Position Four Defense Chooser", positionFourDefense);
  97     SmartDashboard
  98         .putData("Position Five Defense Chooser", positionFiveDefense);
  99
 100     SmartDashboard
 101         .putData("Position Four Defense Chooser", positionFourDefense);
 102     SmartDashboard
 103         .putData("Position Five Defense Chooser", positionFiveDefense);
 104
 105   }
 106
 107   @Override
 108   public void autonomousInit() {
 109     Scheduler.getInstance().run();
 110
 111     // // get options chosen from drop down menu
 112     // Integer chosenPosition = (Integer) positionChooser.getSelected();
 113     // Integer chosenDefense = 0;
 114     //
 115     // if (chosenPosition == 1)
 116     // chosenDefense = (Integer) positionOneDefense.getSelected();
 117     // else if (chosenPosition == 2)
 118     // chosenDefense = (Integer) positionTwoDefense.getSelected();
 119     // else if (chosenPosition == 3)
 120     // chosenDefense = (Integer) positionThreeDefense.getSelected();
 121     // else if (chosenPosition == 4)
 122     // chosenDefense = (Integer) positionFourDefense.getSelected();
 123     // else if (chosenPosition == 5)
 124     // chosenDefense = (Integer) positionFiveDefense.getSelected();
 125     //
 126     // System.out.println("Chosen Position: " + chosenPosition);
 127     // System.out.println("Chosen Defense: " + chosenDefense);
 128   }
 129
 130   @Override
 131   public void autonomousPeriodic() {
 132     Scheduler.getInstance().run();
 133   }
 134
 135   @Override
 136   public void teleopInit() {
 137     Robot.driveTrain.setLowGear();
 138     Robot.shooter.raiseHood();
 139   }
 140
 141   @Override
 142   public void teleopPeriodic() {
 143     Scheduler.getInstance().run();
 144     if (OI.rightJoystick.getTrigger()) {
 145       Robot.shooter.setSpeed(.8);
 146     } else {
 147       Robot.shooter.setSpeed(0);
 148     }
 149     if (OI.rightJoystick.getRawButton(2)) {
 150       Robot.shooter.extendPunch();
 151     } else {
 152       Robot.shooter.retractPunch();
 153     }
 154   }
 155
 156 }