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