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.AnotherGyroClass.Rotation;
   4 import org.usfirst.frc.team3501.robot.Constants.Defense;
   5 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
   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.Scaler;
   9 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
  10
  11 import edu.wpi.first.wpilibj.I2C;
  12 import edu.wpi.first.wpilibj.IterativeRobot;
  13 import edu.wpi.first.wpilibj.command.Scheduler;
  14 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  15 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  16
  17 public class Robot extends IterativeRobot {
  18   public static OI oi;
  19   public static DriveTrain driveTrain;
  20   public static Shooter shooter;
  21
  22   public static Scaler scaler;
  23   double then;
  24
  25   public static IntakeArm intakeArm;
  26   public static DefenseArm defenseArm;
  27
  28   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  29   SendableChooser positionChooser;
  30   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  31       positionFourDefense, positionFiveDefense;
  32
  33   // Gyro stuff
  34   short rawValue;
  35   public GyroClass gyro;
  36
  37   double now;
  38   double degreesIncreased;
  39   double degrees;
  40
  41   Rotation rotation;
  42
  43   @Override
  44   public void robotInit() {
  45     // driveTrain = new DriveTrain();
  46     gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
  47     // oi = new OI();
  48
  49     shooter = new Shooter();
  50     scaler = new Scaler();
  51     intakeArm = new IntakeArm();
  52
  53     // Sendable Choosers allows the driver to select the position of the
  54     // robot
  55     // and the positions of the defenses from a drop-down menu on the Smart
  56     // Dashboard
  57     // make the Sendable Choosers
  58     // initializeSendableChoosers();
  59     // addPositionChooserOptions();
  60     // addDefensesToAllDefenseSendableChooosers();
  61     // sendSendableChoosersToSmartDashboard();
  62
  63   }
  64
  65   private void initializeSendableChoosers() {
  66     positionChooser = new SendableChooser();
  67     positionOneDefense = new SendableChooser();
  68     positionTwoDefense = new SendableChooser();
  69     positionThreeDefense = new SendableChooser();
  70     positionFourDefense = new SendableChooser();
  71     positionFiveDefense = new SendableChooser();
  72   }
  73
  74   private void addPositionChooserOptions() {
  75     positionChooser.addDefault("Position 1", 1);
  76     positionChooser.addObject("Position 2", 2);
  77     positionChooser.addObject("Position 3", 3);
  78     positionChooser.addObject("Position 4", 4);
  79     positionChooser.addObject("Position 5", 5);
  80   }
  81
  82   private void addDefensesToAllDefenseSendableChooosers() {
  83     addDefenseOptions(positionOneDefense);
  84     addDefenseOptions(positionTwoDefense);
  85     addDefenseOptions(positionThreeDefense);
  86     addDefenseOptions(positionFourDefense);
  87     addDefenseOptions(positionFiveDefense);
  88   }
  89
  90   private void addDefenseOptions(SendableChooser chooser) {
  91     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  92     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  93     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  94     chooser.addObject("Low Bar", Defense.LOW_BAR);
  95     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  96     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  97     chooser.addObject("Moat", Defense.MOAT);
  98     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  99   }
 100
 101   private void sendSendableChoosersToSmartDashboard() {
 102     SmartDashboard.putData("PositionChooser", positionChooser);
 103     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 104     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 105     SmartDashboard.putData("Position Three Defense Chooser",
 106         positionThreeDefense);
 107     SmartDashboard.putData("Position Four Defense Chooser",
 108         positionFourDefense);
 109     SmartDashboard.putData("Position Five Defense Chooser",
 110         positionFiveDefense);
 111
 112     SmartDashboard.putData("Position Four Defense Chooser",
 113         positionFourDefense);
 114     SmartDashboard.putData("Position Five Defense Chooser",
 115         positionFiveDefense);
 116
 117     shooter = new Shooter();
 118
 119   }
 120
 121   @Override
 122   public void autonomousInit() {
 123     Scheduler.getInstance().run();
 124
 125     // get options chosen from drop down menu
 126     Integer chosenPosition = (Integer) positionChooser.getSelected();
 127     Integer chosenDefense = 0;
 128
 129     switch (chosenPosition) {
 130     case 1:
 131       chosenDefense = (Integer) positionOneDefense.getSelected();
 132     case 2:
 133       chosenDefense = (Integer) positionTwoDefense.getSelected();
 134     case 3:
 135       chosenDefense = (Integer) positionThreeDefense.getSelected();
 136     case 4:
 137       chosenDefense = (Integer) positionFourDefense.getSelected();
 138     case 5:
 139       chosenDefense = (Integer) positionFiveDefense.getSelected();
 140     }
 141
 142     System.out.println("Chosen Position: " + chosenPosition);
 143     System.out.println("Chosen Defense: " + chosenDefense);
 144   }
 145
 146   @Override
 147   public void autonomousPeriodic() {
 148     Scheduler.getInstance().run();
 149   }
 150
 151   @Override
 152   public void teleopInit() {
 153   }
 154
 155   @Override
 156   public void teleopPeriodic() {
 157     Scheduler.getInstance().run();
 158
 159   }
 160
 161   public double getZAxisDegreesPerSeconds() {
 162     double rawValue = (double) gyro.getRotationZ() / 14.375;
 163     return rawValue;
 164   }
 165
 166   public void initializeGyro() {
 167     degrees = 0;
 168     then = System.nanoTime() / 1000000000.0;
 169     gyro.reset();
 170     gyro.initialize();
 171     System.out.println("Testing Gyro Init");
 172   }
 173
 174   public void addZAxisDegrees() {
 175     double degreesRead = getZAxisDegreesPerSeconds();
 176     now = System.nanoTime();
 177     now = now / (1000000000.0);
 178     double differenceInTime = now - then;
 179     then = now;
 180     degreesIncreased = differenceInTime * degreesRead;
 181
 182     // 0.0 = register
 183     // + 1.0 is the formula constant
 184     //
 185     degrees += degreesIncreased;
 186
 187   }
 188
 189   public double getDegrees() {
 190     return degrees;
 191   }
 192
 193 }