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.commands.auton.ChooseStrategy;
   5 import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
   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.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   public static IntakeArm intakeArm;
  20
  21   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  22   SendableChooser positionChooser;
  23   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  24       positionFourDefense, positionFiveDefense;
  25
  26   @Override
  27   public void robotInit() {
  28     driveTrain = new DriveTrain();
  29     shooter = new Shooter();
  30     intakeArm = new IntakeArm();
  31
  32     oi = new OI();
  33
  34     initializeSendableChoosers();
  35     addPositionChooserOptions();
  36     addDefensesToAllDefenseSendableChoosers();
  37     sendSendableChoosersToSmartDashboard();
  38   }
  39
  40   private void initializeSendableChoosers() {
  41     positionChooser = new SendableChooser();
  42     positionOneDefense = new SendableChooser();
  43     positionTwoDefense = new SendableChooser();
  44     positionThreeDefense = new SendableChooser();
  45     positionFourDefense = new SendableChooser();
  46     positionFiveDefense = new SendableChooser();
  47   }
  48
  49   private void addPositionChooserOptions() {
  50     positionChooser.addDefault("Position 1", 1);
  51     positionChooser.addObject("Position 2", 2);
  52     positionChooser.addObject("Position 3", 3);
  53     positionChooser.addObject("Position 4", 4);
  54     positionChooser.addObject("Position 5", 5);
  55   }
  56
  57   private void addDefensesToAllDefenseSendableChoosers() {
  58     addDefenseOptions(positionOneDefense);
  59     addDefenseOptions(positionTwoDefense);
  60     addDefenseOptions(positionThreeDefense);
  61     addDefenseOptions(positionFourDefense);
  62     addDefenseOptions(positionFiveDefense);
  63   }
  64
  65   private void addDefenseOptions(SendableChooser chooser) {
  66     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  67     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  68     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  69     chooser.addObject("Low Bar", Defense.LOW_BAR);
  70     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
  71     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  72     chooser.addObject("Moat", Defense.MOAT);
  73     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  74   }
  75
  76   private void sendSendableChoosersToSmartDashboard() {
  77     SmartDashboard.putData("PositionChooser", positionChooser);
  78     SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
  79     SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
  80     SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
  81     SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
  82     SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
  83
  84   }
  85
  86   @Override
  87   public void autonomousInit() {
  88     // get options chosen from drop down menu
  89     Integer chosenPosition = (Integer) positionChooser.getSelected();
  90     Defense chosenDefense = null;
  91
  92     if (chosenPosition == 1)
  93       chosenDefense = (Defense) positionOneDefense.getSelected();
  94     else if (chosenPosition == 2)
  95       chosenDefense = (Defense) positionTwoDefense.getSelected();
  96     else if (chosenPosition == 3)
  97       chosenDefense = (Defense) positionThreeDefense.getSelected();
  98     else if (chosenPosition == 4)
  99       chosenDefense = (Defense) positionFourDefense.getSelected();
 100     else if (chosenPosition == 5)
 101       chosenDefense = (Defense) positionFiveDefense.getSelected();
 102
 103     Scheduler.getInstance().add(
 104         new ChooseStrategy(chosenPosition, chosenDefense));
 105   }
 106
 107   @Override
 108   public void autonomousPeriodic() {
 109     Scheduler.getInstance().run();
 110   }
 111
 112   @Override
 113   public void teleopInit() {
 114     Scheduler.getInstance().add(new SetHighGear());
 115   }
 116
 117   @Override
 118   public void teleopPeriodic() {
 119     Scheduler.getInstance().run();
 120   }
 121
 122 }