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