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.DriveTrain;
   4 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5
   6 import edu.wpi.first.wpilibj.IterativeRobot;
   7 import edu.wpi.first.wpilibj.command.Scheduler;
   8 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  10
  11 public class Robot extends IterativeRobot {
  12   public static OI oi;
  13   public static DriveTrain driveTrain;
  14   public static Shooter shooter;
  15
  16   enum Defense {
  17     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
  18   };
  19
  20   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  21   SendableChooser positionOneDefense;
  22   SendableChooser positionTwoDefense;
  23   SendableChooser positionThreeDefense;
  24   SendableChooser positionFourDefense;
  25   SendableChooser positionFiveDefense;
  26   SendableChooser positionChooser;
  27
  28   @Override
  29   public void robotInit() {
  30     driveTrain = new DriveTrain();
  31     oi = new OI();
  32     shooter = new Shooter();
  33
  34     // intialize all the Sendable Choosers
  35     positionChooser = new SendableChooser();
  36     positionOneDefense = new SendableChooser();
  37     positionTwoDefense = new SendableChooser();
  38     positionThreeDefense = new SendableChooser();
  39     positionFourDefense = new SendableChooser();
  40     positionFiveDefense = new SendableChooser();
  41
  42     // add options for positions to the positionChooser
  43     positionChooser.addDefault("Position 1", 1);
  44     positionChooser.addObject("Position 2", 2);
  45     positionChooser.addObject("Position 3", 3);
  46     positionChooser.addObject("Position 4", 4);
  47     positionChooser.addObject("Position 5", 5);
  48
  49     // add options for defenses into each defense chooser (5)
  50     addDefense(positionOneDefense);
  51     addDefense(positionTwoDefense);
  52     addDefense(positionThreeDefense);
  53     addDefense(positionFourDefense);
  54     addDefense(positionFiveDefense);
  55
  56     // send the Sendable Choosers to the Smart Dashboard
  57     // Sendable Choosers allows the driver to select the position of the robot
  58     // and the positions of the defenses from a drop-down menu on the Smart
  59     // Dashboard
  60     SmartDashboard.putData("PositionChooser", positionChooser);
  61     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  62     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  63     SmartDashboard.putData("Position Three Defense Chooser",
  64         positionThreeDefense);
  65     SmartDashboard.putData("Position Four Defense Chooser",
  66         positionFourDefense);
  67     SmartDashboard.putData("Position Five Defense Chooser",
  68         positionFiveDefense);
  69   }
  70
  71   private void addDefense(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   @Override
  83   public void autonomousInit() {
  84     Scheduler.getInstance().run();
  85
  86     // get options chosen from drop down menu
  87     Integer chosenPosition = (Integer) positionChooser.getSelected();
  88     Integer chosenDefense = 0;
  89
  90     if (chosenPosition == 1)
  91       chosenDefense = (Integer) positionOneDefense.getSelected();
  92     if (chosenPosition == 2)
  93       chosenDefense = (Integer) positionTwoDefense.getSelected();
  94     if (chosenPosition == 3)
  95       chosenDefense = (Integer) positionThreeDefense.getSelected();
  96     if (chosenPosition == 4)
  97       chosenDefense = (Integer) positionFourDefense.getSelected();
  98     if (chosenPosition == 5)
  99       chosenDefense = (Integer) positionFiveDefense.getSelected();
 100
 101     System.out.println("Chosen Position: " + chosenPosition);
 102     System.out.println("Chosen Defense: " + chosenDefense);
 103   }
 104
 105   @Override
 106   public void autonomousPeriodic() {
 107     Scheduler.getInstance().run();
 108   }
 109
 110   @Override
 111   public void teleopInit() {
 112     System.out.println("running teleopInit");
 113   }
 114
 115   @Override
 116   public void teleopPeriodic() {
 117     Scheduler.getInstance().run();
 118
 119   }
 120
 121   public void operate() {
 122
 123   }
 124
 125 }