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.Photogate;
   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   public static Photogate photogate;
  28
  29   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  30   SendableChooser positionChooser;
  31   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  32       positionFourDefense, positionFiveDefense;
  33
  34   // Gyro stuff
  35   public GyroLib gyro;
  36
  37   @Override
  38   public void robotInit() {
  39     driveTrain = new DriveTrain();
  40     oi = new OI();
  41     gyro = new GyroLib(I2C.Port.kOnboard, false);
  42
  43     shooter = new Shooter();
  44     scaler = new Scaler();
  45     intakeArm = new IntakeArm();
  46
  47     initializeSendableChoosers();
  48     addPositionChooserOptions();
  49     addDefensesToAllDefenseSendableChoosers();
  50     sendSendableChoosersToSmartDashboard();
  51
  52   }
  53
  54   private void initializeSendableChoosers() {
  55     positionChooser = new SendableChooser();
  56     positionOneDefense = new SendableChooser();
  57     positionTwoDefense = new SendableChooser();
  58     positionThreeDefense = new SendableChooser();
  59     positionFourDefense = new SendableChooser();
  60     positionFiveDefense = new SendableChooser();
  61   }
  62
  63   private void addPositionChooserOptions() {
  64     positionChooser.addDefault("Position 1", 1);
  65     positionChooser.addObject("Position 2", 2);
  66     positionChooser.addObject("Position 3", 3);
  67     positionChooser.addObject("Position 4", 4);
  68     positionChooser.addObject("Position 5", 5);
  69   }
  70
  71   private void addDefensesToAllDefenseSendableChoosers() {
  72     addDefenseOptions(positionOneDefense);
  73     addDefenseOptions(positionTwoDefense);
  74     addDefenseOptions(positionThreeDefense);
  75     addDefenseOptions(positionFourDefense);
  76     addDefenseOptions(positionFiveDefense);
  77   }
  78
  79   private void addDefenseOptions(SendableChooser chooser) {
  80     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  81     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  82     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  83     chooser.addObject("Low Bar", Defense.LOW_BAR);
  84     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  85     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  86     chooser.addObject("Moat", Defense.MOAT);
  87     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  88   }
  89
  90   private void sendSendableChoosersToSmartDashboard() {
  91     SmartDashboard.putData("PositionChooser", positionChooser);
  92     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  93     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  94     SmartDashboard.putData("Position Three Defense Chooser",
  95         positionThreeDefense);
  96     SmartDashboard.putData("Position Four Defense Chooser",
  97         positionFourDefense);
  98     SmartDashboard.putData("Position Five Defense Chooser",
  99         positionFiveDefense);
 100
 101     SmartDashboard.putData("Position Four Defense Chooser",
 102         positionFourDefense);
 103     SmartDashboard.putData("Position Five Defense Chooser",
 104         positionFiveDefense);
 105
 106     shooter = new Shooter();
 107
 108   }
 109
 110   @Override
 111   public void autonomousInit() {
 112     Scheduler.getInstance().run();
 113
 114     // get options chosen from drop down menu
 115     Integer chosenPosition = (Integer) positionChooser.getSelected();
 116     Integer chosenDefense = 0;
 117
 118     if (chosenPosition == 1)
 119       chosenDefense = (Integer) positionOneDefense.getSelected();
 120     else if (chosenPosition == 2)
 121       chosenDefense = (Integer) positionTwoDefense.getSelected();
 122     else if (chosenPosition == 3)
 123       chosenDefense = (Integer) positionThreeDefense.getSelected();
 124     else if (chosenPosition == 4)
 125       chosenDefense = (Integer) positionFourDefense.getSelected();
 126     else if (chosenPosition == 5)
 127       chosenDefense = (Integer) positionFiveDefense.getSelected();
 128
 129     System.out.println("Chosen Position: " + chosenPosition);
 130     System.out.println("Chosen Defense: " + chosenDefense);
 131   }
 132
 133   @Override
 134   public void autonomousPeriodic() {
 135     Scheduler.getInstance().run();
 136   }
 137
 138   @Override
 139   public void teleopInit() {
 140
 141     gyro.start();
 142
 143   }
 144
 145   @Override
 146   public void teleopPeriodic() {
 147     Scheduler.getInstance().run();
 148
 149     System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
 150
 151   }
 152
 153 }