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.shooter.ResetCatapult;
   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.I2C;
  12 import edu.wpi.first.wpilibj.I2C.Port;
  13 import edu.wpi.first.wpilibj.IterativeRobot;
  14 import edu.wpi.first.wpilibj.Joystick;
  15 import edu.wpi.first.wpilibj.command.Scheduler;
  16 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  17 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  18
  19 public class Robot extends IterativeRobot {
  20   public static OI oi;
  21   public static DriveTrain driveTrain;
  22   public static Shooter shooter;
  23
  24   public static Scaler scaler;
  25
  26   public static IntakeArm intakeArm;
  27   public static DefenseArm defenseArm;
  28
  29   static I2C Wire = new I2C(Port.kOnboard, 42);
  30   Joystick joy = new Joystick(1);
  31
  32   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  33   SendableChooser positionChooser;
  34   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  35       positionFourDefense, positionFiveDefense;
  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.putData("Position Four Defense Chooser",
  96         positionFourDefense);
  97     SmartDashboard.putData("Position Five Defense Chooser",
  98         positionFiveDefense);
  99
 100     SmartDashboard.putData("Position Four Defense Chooser",
 101         positionFourDefense);
 102     SmartDashboard.putData("Position Five Defense Chooser",
 103         positionFiveDefense);
 104
 105     shooter = new Shooter();
 106
 107   }
 108
 109   @Override
 110   public void autonomousInit() {
 111     Scheduler.getInstance().run();
 112
 113     // get options chosen from drop down menu
 114     Integer chosenPosition = (Integer) positionChooser.getSelected();
 115     Integer chosenDefense = 0;
 116
 117     if (chosenPosition == 1)
 118       chosenDefense = (Integer) positionOneDefense.getSelected();
 119     else if (chosenPosition == 2)
 120       chosenDefense = (Integer) positionTwoDefense.getSelected();
 121     else if (chosenPosition == 3)
 122       chosenDefense = (Integer) positionThreeDefense.getSelected();
 123     else if (chosenPosition == 4)
 124       chosenDefense = (Integer) positionFourDefense.getSelected();
 125     else if (chosenPosition == 5)
 126       chosenDefense = (Integer) positionFiveDefense.getSelected();
 127
 128     System.out.println("Chosen Position: " + chosenPosition);
 129     System.out.println("Chosen Defense: " + chosenDefense);
 130   }
 131
 132   @Override
 133   public void autonomousPeriodic() {
 134     Scheduler.getInstance().run();
 135   }
 136
 137   @Override
 138   public void teleopInit() {
 139     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
 140                                                       // of each match.
 141   }
 142
 143   @Override
 144   public void teleopPeriodic() {
 145     Scheduler.getInstance().run();
 146     if (joy.getRawButton(1)) { // Check if the button is pressed
 147       String WriteString = "RGB"; // String that is going to transfer; change to
 148                                   // whatever the Arduino code has
 149       char[] CharArray = WriteString.toCharArray(); // Changes data type
 150                                                     // (string) to char array
 151       // Char array: array of chars
 152       byte[] WriteData = new byte[CharArray.length]; // Makes the char array
 153                                                      // able to transfer from
 154                                                      // roboRio to Arduino
 155       for (int i = 0; i < CharArray.length; i++) { // Repeats for each char in
 156                                                    // CharArray
 157         WriteData[i] = (byte) CharArray[i]; // Sets the char to byte
 158       }
 159       Wire.transaction(WriteData, WriteData.length, null, 0); // Finally does
 160                                                               // transaction
 161     }
 162   }
 163
 164 }