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.sensors.GyroLib;
   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.IterativeRobot;
  13 import edu.wpi.first.wpilibj.command.Scheduler;
  14 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  15 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  16
  17 public class Robot extends IterativeRobot {
  18   public static OI oi;
  19   public static DriveTrain driveTrain;
  20   public static Shooter shooter;
  21
  22   public static Scaler scaler;
  23
  24   public static IntakeArm intakeArm;
  25   public static DefenseArm defenseArm;
  26
  27   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  28   SendableChooser positionChooser;
  29   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  30       positionFourDefense, positionFiveDefense;
  31
  32   // Gyro stuff
  33   public GyroLib gyro;
  34
  35   @Override
  36   public void robotInit() {
  37     driveTrain = new DriveTrain();
  38     oi = new OI();
  39     gyro = new GyroLib(I2C.Port.kOnboard, false);
  40
  41     shooter = new Shooter();
  42     scaler = new Scaler();
  43     intakeArm = new IntakeArm();
  44
  45     initializeSendableChoosers();
  46     addPositionChooserOptions();
  47     addDefensesToAllDefenseSendableChoosers();
  48     sendSendableChoosersToSmartDashboard();
  49
  50   }
  51
  52   private void initializeSendableChoosers() {
  53     positionChooser = new SendableChooser();
  54     positionOneDefense = new SendableChooser();
  55     positionTwoDefense = new SendableChooser();
  56     positionThreeDefense = new SendableChooser();
  57     positionFourDefense = new SendableChooser();
  58     positionFiveDefense = new SendableChooser();
  59   }
  60
  61   private void addPositionChooserOptions() {
  62     positionChooser.addDefault("Position 1", 1);
  63     positionChooser.addObject("Position 2", 2);
  64     positionChooser.addObject("Position 3", 3);
  65     positionChooser.addObject("Position 4", 4);
  66     positionChooser.addObject("Position 5", 5);
  67   }
  68
  69   private void addDefensesToAllDefenseSendableChoosers() {
  70     addDefenseOptions(positionOneDefense);
  71     addDefenseOptions(positionTwoDefense);
  72     addDefenseOptions(positionThreeDefense);
  73     addDefenseOptions(positionFourDefense);
  74     addDefenseOptions(positionFiveDefense);
  75   }
  76
  77   private void addDefenseOptions(SendableChooser chooser) {
  78     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  79     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  80     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  81     chooser.addObject("Low Bar", Defense.LOW_BAR);
  82     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  83     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  84     chooser.addObject("Moat", Defense.MOAT);
  85     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  86   }
  87
  88   private void sendSendableChoosersToSmartDashboard() {
  89     SmartDashboard.putData("PositionChooser", positionChooser);
  90     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  91     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  92     SmartDashboard.putData("Position Three Defense Chooser",
  93         positionThreeDefense);
  94     SmartDashboard.putData("Position Four Defense Chooser",
  95         positionFourDefense);
  96     SmartDashboard.putData("Position Five Defense Chooser",
  97         positionFiveDefense);
  98
  99     SmartDashboard.putData("Position Four Defense Chooser",
 100         positionFourDefense);
 101     SmartDashboard.putData("Position Five Defense Chooser",
 102         positionFiveDefense);
 103
 104     shooter = new Shooter();
 105
 106   }
 107
 108   @Override
 109   public void autonomousInit() {
 110     Scheduler.getInstance().run();
 111
 112     // get options chosen from drop down menu
 113     Integer chosenPosition = (Integer) positionChooser.getSelected();
 114     Integer chosenDefense = 0;
 115
 116     if (chosenPosition == 1)
 117       chosenDefense = (Integer) positionOneDefense.getSelected();
 118     else if (chosenPosition == 2)
 119       chosenDefense = (Integer) positionTwoDefense.getSelected();
 120     else if (chosenPosition == 3)
 121       chosenDefense = (Integer) positionThreeDefense.getSelected();
 122     else if (chosenPosition == 4)
 123       chosenDefense = (Integer) positionFourDefense.getSelected();
 124     else if (chosenPosition == 5)
 125       chosenDefense = (Integer) positionFiveDefense.getSelected();
 126
 127     System.out.println("Chosen Position: " + chosenPosition);
 128     System.out.println("Chosen Defense: " + chosenDefense);
 129   }
 130
 131   @Override
 132   public void autonomousPeriodic() {
 133     Scheduler.getInstance().run();
 134   }
 135
 136   @Override
 137   public void teleopInit() {
 138
 139     gyro.start();
 140
 141   }
 142
 143   @Override
 144   public void teleopPeriodic() {
 145     Scheduler.getInstance().run();
 146
 147     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 148
 149   }
 150
 151 }