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   // public static Photogate photogate;
  22
  23   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  24   SendableChooser positionChooser;
  25   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  26       positionFourDefense, positionFiveDefense;
  27
  28   @Override
  29   public void robotInit() {
  30     driveTrain = new DriveTrain();
  31     shooter = new Shooter();
  32     intakeArm = new IntakeArm();
  33
  34     oi = new OI();
  35     // photogate = new Photogate();
  36
  37     initializeSendableChoosers();
  38     addPositionChooserOptions();
  39     addDefensesToAllDefenseSendableChoosers();
  40     sendSendableChoosersToSmartDashboard();
  41   }
  42
  43   private void initializeSendableChoosers() {
  44     positionChooser = new SendableChooser();
  45     positionOneDefense = new SendableChooser();
  46     positionTwoDefense = new SendableChooser();
  47     positionThreeDefense = new SendableChooser();
  48     positionFourDefense = new SendableChooser();
  49     positionFiveDefense = new SendableChooser();
  50   }
  51
  52   private void addPositionChooserOptions() {
  53     positionChooser.addDefault("None", 0);
  54     positionChooser.addObject("Position 1", 1);
  55     positionChooser.addObject("Position 2", 2);
  56     positionChooser.addObject("Position 3", 3);
  57     positionChooser.addObject("Position 4", 4);
  58     positionChooser.addObject("Position 5", 5);
  59   }
  60
  61   private void addDefensesToAllDefenseSendableChoosers() {
  62     addDefenseOptions(positionOneDefense);
  63     addDefenseOptions(positionTwoDefense);
  64     addDefenseOptions(positionThreeDefense);
  65     addDefenseOptions(positionFourDefense);
  66     addDefenseOptions(positionFiveDefense);
  67   }
  68
  69   private void addDefenseOptions(SendableChooser chooser) {
  70     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  71     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  72     chooser.addObject("Rough Terrain" + Auton.ROUGH_TERRAIN_SPEED + " "
  73         + Auton.ROUGH_TERRAIN_TIME, Defense.ROUGH_TERRAIN);
  74     chooser.addObject("Low Bar" + " Will probably work...", Defense.LOW_BAR);
  75     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
  76     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  77     chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
  78         Defense.MOAT);
  79     chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
  80         + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
  81   }
  82
  83   private void sendSendableChoosersToSmartDashboard() {
  84     SmartDashboard.putData("PositionChooser", positionChooser);
  85     SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
  86     SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
  87     SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
  88     SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
  89     SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
  90
  91   }
  92
  93   @Override
  94   public void autonomousInit() {
  95     // get options chosen from drop down menu
  96     Integer chosenPosition = (Integer) positionChooser.getSelected();
  97     Defense chosenDefense = null;
  98
  99     if (chosenPosition == 1)
 100       chosenDefense = (Defense) positionOneDefense.getSelected();
 101     else if (chosenPosition == 2)
 102       chosenDefense = (Defense) positionTwoDefense.getSelected();
 103     else if (chosenPosition == 3)
 104       chosenDefense = (Defense) positionThreeDefense.getSelected();
 105     else if (chosenPosition == 4)
 106       chosenDefense = (Defense) positionFourDefense.getSelected();
 107     else if (chosenPosition == 5)
 108       chosenDefense = (Defense) positionFiveDefense.getSelected();
 109
 110     if (chosenPosition != 0)
 111       Scheduler.getInstance().add(
 112           new ChooseStrategy(chosenPosition, chosenDefense));
 113
 114     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
 115   }
 116
 117   @Override
 118   public void autonomousPeriodic() {
 119     Scheduler.getInstance().run();
 120   }
 121
 122   @Override
 123   public void teleopInit() {
 124     Scheduler.getInstance().add(new SetLowGear());
 125   }
 126
 127   @Override
 128   public void teleopPeriodic() {
 129     Scheduler.getInstance().run();
 130   }
 131
 132 }