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