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.DriveTrain;
   5 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   6 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   7
   8 import edu.wpi.first.wpilibj.I2C;
   9 import edu.wpi.first.wpilibj.IterativeRobot;
  10 import edu.wpi.first.wpilibj.command.Scheduler;
  11 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  12 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  13
  14 public class Robot extends IterativeRobot {
  15   public static OI oi;
  16   public static DriveTrain driveTrain;
  17   public static Shooter shooter;
  18   public static Scaler scaler;
  19
  20   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  21   SendableChooser positionChooser;
  22   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  23       positionFourDefense, positionFiveDefense;
  24
  25   public static Lidar lidar;
  26
  27   @Override
  28   public void robotInit() {
  29     driveTrain = new DriveTrain();
  30     oi = new OI();
  31     shooter = new Shooter();
  32     scaler = new Scaler();
  33     lidar = new Lidar(I2C.Port.kOnboard);
  34
  35     // Sendable Choosers allows the driver to select the position of the robot
  36     // and the positions of the defenses from a drop-down menu on the Smart
  37     // Dashboard
  38     // make the Sendable Choosers
  39     initializeSendableChoosers();
  40     addPositionChooserOptions();
  41     addDefensesToAllDefenseSendableChooosers();
  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 addDefensesToAllDefenseSendableChooosers() {
  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.putData("Position Four Defense Chooser",
  89         positionFourDefense);
  90     SmartDashboard.putData("Position Five Defense Chooser",
  91         positionFiveDefense);
  92   }
  93
  94   @Override
  95   public void autonomousInit() {
  96     Scheduler.getInstance().run();
  97
  98     // get options chosen from drop down menu
  99     Integer chosenPosition = (Integer) positionChooser.getSelected();
 100     Integer chosenDefense = 0;
 101
 102     switch (chosenPosition) {
 103     case 1:
 104       chosenDefense = (Integer) positionOneDefense.getSelected();
 105     case 2:
 106       chosenDefense = (Integer) positionTwoDefense.getSelected();
 107     case 3:
 108       chosenDefense = (Integer) positionThreeDefense.getSelected();
 109     case 4:
 110       chosenDefense = (Integer) positionFourDefense.getSelected();
 111     case 5:
 112       chosenDefense = (Integer) positionFiveDefense.getSelected();
 113     }
 114
 115     System.out.println("Chosen Position: " + chosenPosition);
 116     System.out.println("Chosen Defense: " + chosenDefense);
 117   }
 118
 119   @Override
 120   public void autonomousPeriodic() {
 121     Scheduler.getInstance().run();
 122   }
 123
 124   @Override
 125   public void teleopInit() {
 126     lidar.start();
 127   }
 128
 129   @Override
 130   public void teleopPeriodic() {
 131     printLidarValues();
 132     Scheduler.getInstance().run();
 133
 134   }
 135
 136   public void printLidarValues() {
 137
 138     System.out.println(lidar.pidGet());
 139   }
 140 }