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.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  13 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19
  20   public static Scaler scaler;
  21
  22   public static IntakeArm intakeArm;
  23   public static DefenseArm defenseArm;
  24
  25   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  26   SendableChooser positionChooser;
  27   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  28       positionFourDefense, positionFiveDefense;
  29
  30   @Override
  31   public void robotInit() {
  32     driveTrain = new DriveTrain();
  33     oi = new OI();
  34
  35     shooter = new Shooter();
  36     scaler = new Scaler();
  37     intakeArm = new IntakeArm();
  38
  39     // initializeSendableChoosers();
  40     // addPositionChooserOptions();
  41     // addDefensesToAllDefenseSendableChoosers();
  42     // sendSendableChoosersToSmartDashboard();
  43
  44   }
  45
  46   private void initializeSendableChoosers() {
  47     positionChooser = new SendableChooser();
  48     positionOneDefense = new SendableChooser();
  49     positionTwoDefense = new SendableChooser();
  50     positionThreeDefense = new SendableChooser();
  51     positionFourDefense = new SendableChooser();
  52     positionFiveDefense = new SendableChooser();
  53   }
  54
  55   private void addPositionChooserOptions() {
  56     positionChooser.addDefault("Position 1", 1);
  57     positionChooser.addObject("Position 2", 2);
  58     positionChooser.addObject("Position 3", 3);
  59     positionChooser.addObject("Position 4", 4);
  60     positionChooser.addObject("Position 5", 5);
  61   }
  62
  63   private void addDefensesToAllDefenseSendableChoosers() {
  64     addDefenseOptions(positionOneDefense);
  65     addDefenseOptions(positionTwoDefense);
  66     addDefenseOptions(positionThreeDefense);
  67     addDefenseOptions(positionFourDefense);
  68     addDefenseOptions(positionFiveDefense);
  69   }
  70
  71   private void addDefenseOptions(SendableChooser chooser) {
  72     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  73     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  74     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  75     chooser.addObject("Low Bar", Defense.LOW_BAR);
  76     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  77     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  78     chooser.addObject("Moat", Defense.MOAT);
  79     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  80   }
  81
  82   private void sendSendableChoosersToSmartDashboard() {
  83     SmartDashboard.putData("PositionChooser", positionChooser);
  84     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  85     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  86     SmartDashboard.putData("Position Three Defense Chooser",
  87         positionThreeDefense);
  88     SmartDashboard
  89         .putData("Position Four Defense Chooser", positionFourDefense);
  90     SmartDashboard
  91         .putData("Position Five Defense Chooser", positionFiveDefense);
  92
  93     SmartDashboard
  94         .putData("Position Four Defense Chooser", positionFourDefense);
  95     SmartDashboard
  96         .putData("Position Five Defense Chooser", positionFiveDefense);
  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     // if (chosenPosition == 1)
 109     // chosenDefense = (Integer) positionOneDefense.getSelected();
 110     // else if (chosenPosition == 2)
 111     // chosenDefense = (Integer) positionTwoDefense.getSelected();
 112     // else if (chosenPosition == 3)
 113     // chosenDefense = (Integer) positionThreeDefense.getSelected();
 114     // else if (chosenPosition == 4)
 115     // chosenDefense = (Integer) positionFourDefense.getSelected();
 116     // else if (chosenPosition == 5)
 117     // chosenDefense = (Integer) positionFiveDefense.getSelected();
 118     //
 119     // System.out.println("Chosen Position: " + chosenPosition);
 120     // System.out.println("Chosen Defense: " + chosenDefense);
 121   }
 122
 123   @Override
 124   public void autonomousPeriodic() {
 125     Scheduler.getInstance().run();
 126   }
 127
 128   @Override
 129   public void teleopInit() {
 130     Robot.driveTrain.setLowGear();
 131     Robot.shooter.raiseHood();
 132   }
 133
 134   @Override
 135   public void teleopPeriodic() {
 136     Scheduler.getInstance().run();
 137     if (OI.rightJoystick.getTrigger()) {
 138       Robot.shooter.setSpeed(.8);
 139     } else {
 140       Robot.shooter.setSpeed(0);
 141     }
 142     if (OI.rightJoystick.getRawButton(2)) {
 143       Robot.shooter.extendPunch();
 144     } else {
 145       Robot.shooter.retractPunch();
 146     }
 147   }
 148
 149 }