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.DriveTrain;
   4 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5
   6 import edu.wpi.first.wpilibj.IterativeRobot;
   7 import edu.wpi.first.wpilibj.command.Scheduler;
   8 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  10
  11 public class Robot extends IterativeRobot {
  12   public static OI oi;
  13   public static DriveTrain driveTrain;
  14   public static Shooter shooter;
  15
  16   enum Defense {
  17     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
  18   };
  19
  20   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  21   SendableChooser positionOneDefense;
  22   SendableChooser positionTwoDefense;
  23   SendableChooser positionThreeDefense;
  24   SendableChooser positionFourDefense;
  25   SendableChooser positionFiveDefense;
  26   SendableChooser positionChooser;
  27
  28   @Override
  29   public void robotInit() {
  30     driveTrain = new DriveTrain();
  31     oi = new OI();
  32     shooter = new Shooter();
  33
  34     // initialize all the Sendable Choosers
  35     positionChooser = new SendableChooser();
  36     positionOneDefense = new SendableChooser();
  37     positionTwoDefense = new SendableChooser();
  38     positionThreeDefense = new SendableChooser();
  39     positionFourDefense = new SendableChooser();
  40     positionFiveDefense = new SendableChooser();
  41
  42     // add options for positions to the positionChooser
  43     positionChooser.addDefault("Position 1", 1);
  44     positionChooser.addObject("Position 2", 2);
  45     positionChooser.addObject("Position 3", 3);
  46     positionChooser.addObject("Position 4", 4);
  47     positionChooser.addObject("Position 5", 5);
  48
  49     // add options for defenses into each defense chooser (5)
  50     addDefense(positionOneDefense);
  51     addDefense(positionTwoDefense);
  52     addDefense(positionThreeDefense);
  53     addDefense(positionFourDefense);
  54     addDefense(positionFiveDefense);
  55
  56     // send the Sendable Choosers to the Smart Dashboard
  57     // Sendable Choosers allows the driver to select the position of the robot
  58     // and the positions of the defenses from a drop-down menu on the Smart
  59     // Dashboard
  60     SmartDashboard.putData("PositionChooser", positionChooser);
  61     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  62     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  63     SmartDashboard.putData("Position Three Defense Chooser",
  64         positionThreeDefense);
  65     SmartDashboard.putData("Position Four Defense Chooser",
  66         positionFourDefense);
  67     SmartDashboard.putData("Position Five Defense Chooser",
  68         positionFiveDefense);
  69   }
  70
  71   private void addDefense(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   @Override
  83   public void autonomousInit() {
  84     Scheduler.getInstance().run();
  85
  86     // get options chosen from drop down menu
  87     Integer chosenPosition = (Integer) positionChooser.getSelected();
  88     Integer chosenDefense = 0;
  89
  90     switch (chosenPosition) {
  91     case 1:
  92       chosenDefense = (Integer) positionOneDefense.getSelected();
  93     case 2:
  94       chosenDefense = (Integer) positionTwoDefense.getSelected();
  95     case 3:
  96       chosenDefense = (Integer) positionThreeDefense.getSelected();
  97     case 4:
  98       chosenDefense = (Integer) positionFourDefense.getSelected();
  99     case 5:
 100       chosenDefense = (Integer) positionFiveDefense.getSelected();
 101     }
 102
 103     System.out.println("Chosen Position: " + chosenPosition);
 104     System.out.println("Chosen Defense: " + chosenDefense);
 105   }
 106
 107   @Override
 108   public void autonomousPeriodic() {
 109     Scheduler.getInstance().run();
 110   }
 111
 112   @Override
 113   public void teleopInit() {
 114   }
 115
 116   @Override
 117   public void teleopPeriodic() {
 118     Scheduler.getInstance().run();
 119
 120   }
 121 }