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.I2C;
  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   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  27   SendableChooser positionChooser;
  28   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  29       positionFourDefense, positionFiveDefense;
  30
  31   // Gyro stuff
  32   public GyroLib gyro;
  33
  34   @Override
  35   public void robotInit() {
  36     gyro = new GyroLib(I2C.Port.kOnboard, false);
  37
  38     shooter = new Shooter();
  39     scaler = new Scaler();
  40     intakeArm = new IntakeArm();
  41
  42   }
  43
  44   private void initializeSendableChoosers() {
  45     positionChooser = new SendableChooser();
  46     positionOneDefense = new SendableChooser();
  47     positionTwoDefense = new SendableChooser();
  48     positionThreeDefense = new SendableChooser();
  49     positionFourDefense = new SendableChooser();
  50     positionFiveDefense = new SendableChooser();
  51   }
  52
  53   private void addPositionChooserOptions() {
  54     positionChooser.addDefault("Position 1", 1);
  55     positionChooser.addObject("Position 2", 2);
  56     positionChooser.addObject("Position 3", 3);
  57     positionChooser.addObject("Position 4", 4);
  58     positionChooser.addObject("Position 5", 5);
  59   }
  60
  61   private void addDefensesToAllDefenseSendableChooosers() {
  62     addDefenseOptions(positionOneDefense);
  63     addDefenseOptions(positionTwoDefense);
  64     addDefenseOptions(positionThreeDefense);
  65     addDefenseOptions(positionFourDefense);
  66     addDefenseOptions(positionFiveDefense);
  67   }
  68
  69   private void addDefenseOptions(SendableChooser chooser) {
  70     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  71     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  72     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  73     chooser.addObject("Low Bar", Defense.LOW_BAR);
  74     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  75     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  76     chooser.addObject("Moat", Defense.MOAT);
  77     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  78   }
  79
  80   private void sendSendableChoosersToSmartDashboard() {
  81     SmartDashboard.putData("PositionChooser", positionChooser);
  82     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  83     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  84     SmartDashboard.putData("Position Three Defense Chooser",
  85         positionThreeDefense);
  86     SmartDashboard.putData("Position Four Defense Chooser",
  87         positionFourDefense);
  88     SmartDashboard.putData("Position Five Defense Chooser",
  89         positionFiveDefense);
  90
  91     SmartDashboard.putData("Position Four Defense Chooser",
  92         positionFourDefense);
  93     SmartDashboard.putData("Position Five Defense Chooser",
  94         positionFiveDefense);
  95
  96     shooter = new Shooter();
  97
  98   }
  99
 100   @Override
 101   public void autonomousInit() {
 102     Scheduler.getInstance().run();
 103
 104     // get options chosen from drop down menu
 105     Integer chosenPosition = (Integer) positionChooser.getSelected();
 106     Integer chosenDefense = 0;
 107
 108     switch (chosenPosition) {
 109     case 1:
 110       chosenDefense = (Integer) positionOneDefense.getSelected();
 111     case 2:
 112       chosenDefense = (Integer) positionTwoDefense.getSelected();
 113     case 3:
 114       chosenDefense = (Integer) positionThreeDefense.getSelected();
 115     case 4:
 116       chosenDefense = (Integer) positionFourDefense.getSelected();
 117     case 5:
 118       chosenDefense = (Integer) positionFiveDefense.getSelected();
 119     }
 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     gyro.start();
 134
 135   }
 136
 137   @Override
 138   public void teleopPeriodic() {
 139     Scheduler.getInstance().run();
 140
 141     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 142
 143   }
 144
 145 }