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.SetLowGear;
   6 import org.usfirst.frc.team3501.robot.commands.intakearm.Photogate;
   7 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   8 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
   9 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  10
  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   public static IntakeArm intakeArm;
  21   public static Photogate photogate;
  22   public static CameraFeeds cameraFeeds;
  23
  24   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  25   private static SendableChooser defenseChooser;
  26   private static SendableChooser frontChooser;
  27   boolean choseIntakeIsFront;
  28
  29   @Override
  30   public void robotInit() {
  31     driveTrain = new DriveTrain();
  32     shooter = new Shooter();
  33     intakeArm = new IntakeArm();
  34     photogate = new Photogate();
  35     cameraFeeds = new CameraFeeds();
  36
  37     oi = new OI();
  38
  39     defenseChooser = new SendableChooser();
  40     addDefenseOptions(defenseChooser);
  41     SmartDashboard.putData("Defense Chooser", defenseChooser);
  42
  43     frontChooser = new SendableChooser();
  44     addFrontChooserOptions();
  45     SmartDashboard.putData("Front Chooser", frontChooser);
  46   }
  47
  48   private void addFrontChooserOptions() {
  49     frontChooser.addDefault("Intake is Back", false);
  50     frontChooser.addObject("Intake is True", true);
  51   }
  52
  53   private void addDefenseOptions(SendableChooser chooser) {
  54     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  55     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  56     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  57     chooser.addObject("Low Bar", Defense.LOW_BAR);
  58     chooser.addObject("Chival De Frise", Defense.CHIVAL_DE_FRISE);
  59     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  60     chooser.addObject("Moat", Defense.MOAT);
  61     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  62     chooser.addObject("No Auton", Defense.NONE);
  63   }
  64
  65   @Override
  66   public void autonomousInit() {
  67     Defense chosenDefense = (Defense) (defenseChooser.getSelected());
  68     choseIntakeIsFront = (boolean) frontChooser.getSelected();
  69
  70     // if the shooter is not the front (intake is front) - toggle the drivetrain
  71     if (choseIntakeIsFront)
  72       driveTrain.toggleFlipped();
  73
  74     Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));
  75
  76     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
  77
  78   }
  79
  80   @Override
  81   public void autonomousPeriodic() {
  82     Scheduler.getInstance().run();
  83   }
  84
  85   @Override
  86   public void teleopInit() {
  87     // if intake is front, switch back to shooter as front
  88     // this is done on purpose!
  89     if (choseIntakeIsFront)
  90       driveTrain.toggleFlipped();
  91
  92     cameraFeeds.init();
  93     Scheduler.getInstance().add(new SetLowGear());
  94   }
  95
  96   @Override
  97   public void teleopPeriodic() {
  98     Scheduler.getInstance().run();
  99     cameraFeeds.run();
 100   }
 101
 102 }