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.Shooter;
   6
   7 import edu.wpi.first.wpilibj.IterativeRobot;
   8 import edu.wpi.first.wpilibj.command.Scheduler;
   9 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  10 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  11
  12 public class Robot extends IterativeRobot {
  13   public static OI oi;
  14   public static DriveTrain driveTrain;
  15   public static Shooter shooter;
  16
  17   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  18   SendableChooser positionChooser;
  19   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  20       positionFourDefense, positionFiveDefense;
  21
  22   @Override
  23   public void robotInit() {
  24     driveTrain = new DriveTrain();
  25     oi = new OI();
  26     shooter = new Shooter();
  27
  28     // Sendable Choosers allows the driver to select the position of the robot
  29     // and the positions of the defenses from a drop-down menu on the Smart
  30     // Dashboard
  31     // make the Sendable Choosers
  32     initializeSendableChoosers();
  33     addPositionChooserOptions();
  34     addDefensesToAllDefenseSendableChooosers();
  35     sendSendableChoosersToSmartDashboard();
  36
  37   }
  38
  39   private void initializeSendableChoosers() {
  40     positionChooser = new SendableChooser();
  41     positionOneDefense = new SendableChooser();
  42     positionTwoDefense = new SendableChooser();
  43     positionThreeDefense = new SendableChooser();
  44     positionFourDefense = new SendableChooser();
  45     positionFiveDefense = new SendableChooser();
  46   }
  47
  48   private void addPositionChooserOptions() {
  49     positionChooser.addDefault("Position 1", 1);
  50     positionChooser.addObject("Position 2", 2);
  51     positionChooser.addObject("Position 3", 3);
  52     positionChooser.addObject("Position 4", 4);
  53     positionChooser.addObject("Position 5", 5);
  54   }
  55
  56   private void addDefensesToAllDefenseSendableChooosers() {
  57     addDefenseOptions(positionOneDefense);
  58     addDefenseOptions(positionTwoDefense);
  59     addDefenseOptions(positionThreeDefense);
  60     addDefenseOptions(positionFourDefense);
  61     addDefenseOptions(positionFiveDefense);
  62   }
  63
  64   private void addDefenseOptions(SendableChooser chooser) {
  65     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  66     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  67     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  68     chooser.addObject("Low Bar", Defense.LOW_BAR);
  69     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  70     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  71     chooser.addObject("Moat", Defense.MOAT);
  72     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  73   }
  74
  75   private void sendSendableChoosersToSmartDashboard() {
  76     SmartDashboard.putData("PositionChooser", positionChooser);
  77     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  78     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  79     SmartDashboard.putData("Position Three Defense Chooser",
  80         positionThreeDefense);
  81     SmartDashboard.putData("Position Four Defense Chooser",
  82         positionFourDefense);
  83     SmartDashboard.putData("Position Five Defense Chooser",
  84         positionFiveDefense);
  85   }
  86
  87   @Override
  88   public void autonomousInit() {
  89     Scheduler.getInstance().run();
  90
  91     // get options chosen from drop down menu
  92     Integer chosenPosition = (Integer) positionChooser.getSelected();
  93     Integer chosenDefense = 0;
  94
  95     switch (chosenPosition) {
  96     case 1:
  97       chosenDefense = (Integer) positionOneDefense.getSelected();
  98     case 2:
  99       chosenDefense = (Integer) positionTwoDefense.getSelected();
 100     case 3:
 101       chosenDefense = (Integer) positionThreeDefense.getSelected();
 102     case 4:
 103       chosenDefense = (Integer) positionFourDefense.getSelected();
 104     case 5:
 105       chosenDefense = (Integer) positionFiveDefense.getSelected();
 106     }
 107
 108     System.out.println("Chosen Position: " + chosenPosition);
 109     System.out.println("Chosen Defense: " + chosenDefense);
 110   }
 111
 112   @Override
 113   public void autonomousPeriodic() {
 114     Scheduler.getInstance().run();
 115   }
 116
 117   @Override
 118   public void teleopInit() {
 119   }
 120
 121   @Override
 122   public void teleopPeriodic() {
 123     Scheduler.getInstance().run();
 124
 125   }
 126 }