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.sensors.Photogate;
   6 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   8 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   9 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
  10 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  11
  12 import edu.wpi.first.wpilibj.I2C;
  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   public static Photogate photogate;
  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   // Gyro stuff
  36   public GyroLib gyro;
  37
  38   @Override
  39   public void robotInit() {
  40     driveTrain = new DriveTrain();
  41     oi = new OI();
  42     gyro = new GyroLib(I2C.Port.kOnboard, false);
  43
  44     shooter = new Shooter();
  45     scaler = new Scaler();
  46     intakeArm = new IntakeArm();
  47
  48     initializeSendableChoosers();
  49     addPositionChooserOptions();
  50     addDefensesToAllDefenseSendableChoosers();
  51     sendSendableChoosersToSmartDashboard();
  52
  53   }
  54
  55   private void initializeSendableChoosers() {
  56     positionChooser = new SendableChooser();
  57     positionOneDefense = new SendableChooser();
  58     positionTwoDefense = new SendableChooser();
  59     positionThreeDefense = new SendableChooser();
  60     positionFourDefense = new SendableChooser();
  61     positionFiveDefense = new SendableChooser();
  62   }
  63
  64   private void addPositionChooserOptions() {
  65     positionChooser.addDefault("Position 1", 1);
  66     positionChooser.addObject("Position 2", 2);
  67     positionChooser.addObject("Position 3", 3);
  68     positionChooser.addObject("Position 4", 4);
  69     positionChooser.addObject("Position 5", 5);
  70   }
  71
  72   private void addDefensesToAllDefenseSendableChoosers() {
  73     addDefenseOptions(positionOneDefense);
  74     addDefenseOptions(positionTwoDefense);
  75     addDefenseOptions(positionThreeDefense);
  76     addDefenseOptions(positionFourDefense);
  77     addDefenseOptions(positionFiveDefense);
  78   }
  79
  80   private void addDefenseOptions(SendableChooser chooser) {
  81     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  82     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  83     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  84     chooser.addObject("Low Bar", Defense.LOW_BAR);
  85     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  86     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  87     chooser.addObject("Moat", Defense.MOAT);
  88     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  89   }
  90
  91   private void sendSendableChoosersToSmartDashboard() {
  92     SmartDashboard.putData("PositionChooser", positionChooser);
  93     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  94     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  95     SmartDashboard.putData("Position Three Defense Chooser",
  96         positionThreeDefense);
  97     SmartDashboard.putData("Position Four Defense Chooser",
  98         positionFourDefense);
  99     SmartDashboard.putData("Position Five Defense Chooser",
 100         positionFiveDefense);
 101
 102     SmartDashboard.putData("Position Four Defense Chooser",
 103         positionFourDefense);
 104     SmartDashboard.putData("Position Five Defense Chooser",
 105         positionFiveDefense);
 106
 107     shooter = new Shooter();
 108
 109   }
 110
 111   @Override
 112   public void autonomousInit() {
 113     Scheduler.getInstance().run();
 114
 115     // get options chosen from drop down menu
 116     Integer chosenPosition = (Integer) positionChooser.getSelected();
 117     Integer chosenDefense = 0;
 118
 119     if (chosenPosition == 1)
 120       chosenDefense = (Integer) positionOneDefense.getSelected();
 121     else if (chosenPosition == 2)
 122       chosenDefense = (Integer) positionTwoDefense.getSelected();
 123     else if (chosenPosition == 3)
 124       chosenDefense = (Integer) positionThreeDefense.getSelected();
 125     else if (chosenPosition == 4)
 126       chosenDefense = (Integer) positionFourDefense.getSelected();
 127     else if (chosenPosition == 5)
 128       chosenDefense = (Integer) positionFiveDefense.getSelected();
 129
 130     System.out.println("Chosen Position: " + chosenPosition);
 131     System.out.println("Chosen Defense: " + chosenDefense);
 132   }
 133
 134   @Override
 135   public void autonomousPeriodic() {
 136     Scheduler.getInstance().run();
 137   }
 138
 139   @Override
 140   public void teleopInit() {
 141
 142     gyro.start();
 143
 144   }
 145
 146   @Override
 147   public void teleopPeriodic() {
 148     Scheduler.getInstance().run();
 149
 150     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 151
 152   }
 153
 154 }