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.command.Scheduler;
  15 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  16 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  17
  18 public class Robot extends IterativeRobot {
  19   public static OI oi;
  20   public static DriveTrain driveTrain;
  21   public static Shooter shooter;
  22
  23   public static Scaler scaler;
  24
  25   public static IntakeArm intakeArm;
  26   public static DefenseArm defenseArm;
  27
  28   static I2C Wire = new I2C(Port.kOnboard, 42);
  29
  30   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  31   SendableChooser positionChooser;
  32   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  33       positionFourDefense, positionFiveDefense;
  34
  35   @Override
  36   public void robotInit() {
  37     driveTrain = new DriveTrain();
  38     oi = new OI();
  39
  40     shooter = new Shooter();
  41     scaler = new Scaler();
  42     intakeArm = new IntakeArm();
  43
  44     initializeSendableChoosers();
  45     addPositionChooserOptions();
  46     addDefensesToAllDefenseSendableChoosers();
  47     sendSendableChoosersToSmartDashboard();
  48
  49   }
  50
  51   private void initializeSendableChoosers() {
  52     positionChooser = new SendableChooser();
  53     positionOneDefense = new SendableChooser();
  54     positionTwoDefense = new SendableChooser();
  55     positionThreeDefense = new SendableChooser();
  56     positionFourDefense = new SendableChooser();
  57     positionFiveDefense = new SendableChooser();
  58   }
  59
  60   private void addPositionChooserOptions() {
  61     positionChooser.addDefault("Position 1", 1);
  62     positionChooser.addObject("Position 2", 2);
  63     positionChooser.addObject("Position 3", 3);
  64     positionChooser.addObject("Position 4", 4);
  65     positionChooser.addObject("Position 5", 5);
  66   }
  67
  68   private void addDefensesToAllDefenseSendableChoosers() {
  69     addDefenseOptions(positionOneDefense);
  70     addDefenseOptions(positionTwoDefense);
  71     addDefenseOptions(positionThreeDefense);
  72     addDefenseOptions(positionFourDefense);
  73     addDefenseOptions(positionFiveDefense);
  74   }
  75
  76   private void addDefenseOptions(SendableChooser chooser) {
  77     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  78     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  79     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  80     chooser.addObject("Low Bar", Defense.LOW_BAR);
  81     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  82     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  83     chooser.addObject("Moat", Defense.MOAT);
  84     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  85   }
  86
  87   private void sendSendableChoosersToSmartDashboard() {
  88     SmartDashboard.putData("PositionChooser", positionChooser);
  89     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  90     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  91     SmartDashboard.putData("Position Three Defense Chooser",
  92         positionThreeDefense);
  93     SmartDashboard.putData("Position Four Defense Chooser",
  94         positionFourDefense);
  95     SmartDashboard.putData("Position Five Defense Chooser",
  96         positionFiveDefense);
  97
  98     SmartDashboard.putData("Position Four Defense Chooser",
  99         positionFourDefense);
 100     SmartDashboard.putData("Position Five Defense Chooser",
 101         positionFiveDefense);
 102
 103     shooter = new Shooter();
 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     Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
 138                                                       // of each match.
 139   }
 140
 141   @Override
 142   public void teleopPeriodic() {
 143     Scheduler.getInstance().run();
 144     String WriteString = "go";
 145     char[] CharArray = WriteString.toCharArray();
 146     byte[] WriteData = new byte[CharArray.length];
 147     for (int i = 0; i < CharArray.length; i++) {
 148       WriteData[i] = (byte) CharArray[i];
 149     }
 150     Wire.transaction(WriteData, WriteData.length, null, 0);
 151   }
 152
 153 }