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.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
  21   public static Scaler scaler;
  22
  23   public static IntakeArm intakeArm;
  24   public static DefenseArm defenseArm;
  25
  26   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  27   SendableChooser positionChooser;
  28   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  29       positionFourDefense, positionFiveDefense;
  30
  31   @Override
  32   public void robotInit() {
  33     driveTrain = new DriveTrain();
  34     oi = new OI();
  35
  36     shooter = new Shooter();
  37     scaler = new Scaler();
  38     intakeArm = new IntakeArm();
  39
  40     initializeSendableChoosers();
  41     addPositionChooserOptions();
  42     addDefensesToAllDefenseSendableChoosers();
  43     sendSendableChoosersToSmartDashboard();
  44
  45   }
  46
  47   private void initializeSendableChoosers() {
  48     positionChooser = new SendableChooser();
  49     positionOneDefense = new SendableChooser();
  50     positionTwoDefense = new SendableChooser();
  51     positionThreeDefense = new SendableChooser();
  52     positionFourDefense = new SendableChooser();
  53     positionFiveDefense = new SendableChooser();
  54   }
  55
  56   private void addPositionChooserOptions() {
  57     positionChooser.addDefault("Position 1", 1);
  58     positionChooser.addObject("Position 2", 2);
  59     positionChooser.addObject("Position 3", 3);
  60     positionChooser.addObject("Position 4", 4);
  61     positionChooser.addObject("Position 5", 5);
  62   }
  63
  64   private void addDefensesToAllDefenseSendableChoosers() {
  65     addDefenseOptions(positionOneDefense);
  66     addDefenseOptions(positionTwoDefense);
  67     addDefenseOptions(positionThreeDefense);
  68     addDefenseOptions(positionFourDefense);
  69     addDefenseOptions(positionFiveDefense);
  70   }
  71
  72   private void addDefenseOptions(SendableChooser chooser) {
  73     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  74     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  75     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  76     chooser.addObject("Low Bar", Defense.LOW_BAR);
  77     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  78     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  79     chooser.addObject("Moat", Defense.MOAT);
  80     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  81   }
  82
  83   private void sendSendableChoosersToSmartDashboard() {
  84     SmartDashboard.putData("PositionChooser", positionChooser);
  85     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  86     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  87     SmartDashboard.putData("Position Three Defense Chooser",
  88         positionThreeDefense);
  89     SmartDashboard
  90         .putData("Position Four Defense Chooser", positionFourDefense);
  91     SmartDashboard
  92         .putData("Position Five Defense Chooser", positionFiveDefense);
  93
  94     SmartDashboard
  95         .putData("Position Four Defense Chooser", positionFourDefense);
  96     SmartDashboard
  97         .putData("Position Five Defense Chooser", positionFiveDefense);
  98
  99     shooter = new Shooter();
 100
 101   }
 102
 103   @Override
 104   public void autonomousInit() {
 105     Scheduler.getInstance().run();
 106
 107     // get options chosen from drop down menu
 108     Integer chosenPosition = (Integer) positionChooser.getSelected();
 109     Integer chosenDefense = 0;
 110
 111     if (chosenPosition == 1)
 112       chosenDefense = (Integer) positionOneDefense.getSelected();
 113     else if (chosenPosition == 2)
 114       chosenDefense = (Integer) positionTwoDefense.getSelected();
 115     else if (chosenPosition == 3)
 116       chosenDefense = (Integer) positionThreeDefense.getSelected();
 117     else if (chosenPosition == 4)
 118       chosenDefense = (Integer) positionFourDefense.getSelected();
 119     else if (chosenPosition == 5)
 120       chosenDefense = (Integer) positionFiveDefense.getSelected();
 121
 122     System.out.println("Chosen Position: " + chosenPosition);
 123     System.out.println("Chosen Defense: " + chosenDefense);
 124   }
 125
 126   @Override
 127   public void autonomousPeriodic() {
 128     Scheduler.getInstance().run();
 129   }
 130
 131   @Override
 132   public void teleopInit() {
 133     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
 134                                                       // of each match.
 135   }
 136
 137   @Override
 138   public void teleopPeriodic() {
 139     Scheduler.getInstance().run();
 140   }
 141
 142 }