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.DefenseArm;
   5 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   6 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   8 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   9
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  13 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19
  20   public static Scaler scaler;
  21
  22   public static IntakeArm intakeArm;
  23   public static DefenseArm defenseArm;
  24
  25   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  26   SendableChooser positionChooser;
  27   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  28       positionFourDefense, positionFiveDefense;
  29
  30   @Override
  31   public void robotInit() {
  32     driveTrain = new DriveTrain();
  33     oi = new OI();
  34
  35     shooter = new Shooter();
  36
  37     // shooter = new Shooter();
  38     // scaler = new Scaler();
  39     // intakeArm = new IntakeArm();
  40     //
  41     // initializeSendableChoosers();
  42     // addPositionChooserOptions();
  43     // addDefensesToAllDefenseSendableChoosers();
  44     // sendSendableChoosersToSmartDashboard();
  45
  46   }
  47
  48   private void initializeSendableChoosers() {
  49     positionChooser = new SendableChooser();
  50     positionOneDefense = new SendableChooser();
  51     positionTwoDefense = new SendableChooser();
  52     positionThreeDefense = new SendableChooser();
  53     positionFourDefense = new SendableChooser();
  54     positionFiveDefense = new SendableChooser();
  55   }
  56
  57   private void addPositionChooserOptions() {
  58     positionChooser.addDefault("Position 1", 1);
  59     positionChooser.addObject("Position 2", 2);
  60     positionChooser.addObject("Position 3", 3);
  61     positionChooser.addObject("Position 4", 4);
  62     positionChooser.addObject("Position 5", 5);
  63   }
  64
  65   private void addDefensesToAllDefenseSendableChoosers() {
  66     addDefenseOptions(positionOneDefense);
  67     addDefenseOptions(positionTwoDefense);
  68     addDefenseOptions(positionThreeDefense);
  69     addDefenseOptions(positionFourDefense);
  70     addDefenseOptions(positionFiveDefense);
  71   }
  72
  73   private void addDefenseOptions(SendableChooser chooser) {
  74     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  75     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  76     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  77     chooser.addObject("Low Bar", Defense.LOW_BAR);
  78     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  79     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  80     chooser.addObject("Moat", Defense.MOAT);
  81     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  82   }
  83
  84   private void sendSendableChoosersToSmartDashboard() {
  85     SmartDashboard.putData("PositionChooser", positionChooser);
  86     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  87     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  88     SmartDashboard.putData("Position Three Defense Chooser",
  89         positionThreeDefense);
  90     SmartDashboard
  91         .putData("Position Four Defense Chooser", positionFourDefense);
  92     SmartDashboard
  93         .putData("Position Five Defense Chooser", positionFiveDefense);
  94
  95     SmartDashboard
  96         .putData("Position Four Defense Chooser", positionFourDefense);
  97     SmartDashboard
  98         .putData("Position Five Defense Chooser", positionFiveDefense);
  99
 100   }
 101
 102   @Override
 103   public void autonomousInit() {
 104     Scheduler.getInstance().run();
 105
 106     // Scheduler.getInstance().add(new DriveDistance(24, 5));
 107     // Scheduler.getInstance().add(new DriveForTime(2, 0.3));
 108     // Scheduler.getInstance().add(new TurnForAngle(90, 5));
 109     // Scheduler.getInstance().add(
 110     // new TurnForTime(3, Constants.Direction.RIGHT, 0.3));
 111     // Scheduler.getInstance().add(
 112     // new TurnForTime(3, Constants.Direction.LEFT, 0.3));
 113     // Scheduler.getInstance().add(new Turn180());
 114   }
 115
 116   @Override
 117   public void autonomousPeriodic() {
 118     Scheduler.getInstance().run();
 119   }
 120
 121   @Override
 122   public void teleopInit() {
 123     Robot.driveTrain.setLowGear();
 124     Robot.shooter.raiseHood();
 125   }
 126
 127   @Override
 128   public void teleopPeriodic() {
 129     Scheduler.getInstance().run();
 130     if (OI.rightJoystick.getTrigger()) {
 131       Robot.shooter.setSpeed(.8);
 132     } else {
 133       Robot.shooter.setSpeed(0);
 134     }
 135     if (OI.rightJoystick.getRawButton(2)) {
 136       Robot.shooter.extendPunch();
 137     } else {
 138       Robot.shooter.retractPunch();
 139
 140     }
 141   }
 142
 143 }