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.DefenseArm;
   5 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
   6 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   7 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   8
   9 import edu.wpi.first.wpilibj.IterativeRobot;
  10 import edu.wpi.first.wpilibj.command.Scheduler;
  11 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  12 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  13
  14 public class Robot extends IterativeRobot {
  15   public static OI oi;
  16   public static DriveTrain driveTrain;
  17   public static Shooter shooter;
  18   public static Scaler scaler;
  19   public static DefenseArm defenseArm;
  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     oi = new OI();
  30     shooter = new Shooter();
  31     scaler = new Scaler();
  32     defenseArm = new DefenseArm();
  33
  34     // Sendable Choosers allows the driver to select the position of the robot
  35     // and the positions of the defenses from a drop-down menu on the Smart
  36     // Dashboard
  37     // make the Sendable Choosers
  38     initializeSendableChoosers();
  39     addPositionChooserOptions();
  40     addDefensesToAllDefenseSendableChooosers();
  41     sendSendableChoosersToSmartDashboard();
  42
  43   }
  44
  45   private void initializeSendableChoosers() {
  46     positionChooser = new SendableChooser();
  47     positionOneDefense = new SendableChooser();
  48     positionTwoDefense = new SendableChooser();
  49     positionThreeDefense = new SendableChooser();
  50     positionFourDefense = new SendableChooser();
  51     positionFiveDefense = new SendableChooser();
  52   }
  53
  54   private void addPositionChooserOptions() {
  55     positionChooser.addDefault("Position 1", 1);
  56     positionChooser.addObject("Position 2", 2);
  57     positionChooser.addObject("Position 3", 3);
  58     positionChooser.addObject("Position 4", 4);
  59     positionChooser.addObject("Position 5", 5);
  60   }
  61
  62   private void addDefensesToAllDefenseSendableChooosers() {
  63     addDefenseOptions(positionOneDefense);
  64     addDefenseOptions(positionTwoDefense);
  65     addDefenseOptions(positionThreeDefense);
  66     addDefenseOptions(positionFourDefense);
  67     addDefenseOptions(positionFiveDefense);
  68   }
  69
  70   private void addDefenseOptions(SendableChooser chooser) {
  71     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  72     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  73     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  74     chooser.addObject("Low Bar", Defense.LOW_BAR);
  75     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  76     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  77     chooser.addObject("Moat", Defense.MOAT);
  78     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  79   }
  80
  81   private void sendSendableChoosersToSmartDashboard() {
  82     SmartDashboard.putData("PositionChooser", positionChooser);
  83     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  84     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  85     SmartDashboard.putData("Position Three Defense Chooser",
  86         positionThreeDefense);
  87     SmartDashboard.putData("Position Four Defense Chooser",
  88         positionFourDefense);
  89     SmartDashboard.putData("Position Five Defense Chooser",
  90         positionFiveDefense);
  91   }
  92
  93   @Override
  94   public void autonomousInit() {
  95     Scheduler.getInstance().run();
  96
  97     // get options chosen from drop down menu
  98     Integer chosenPosition = (Integer) positionChooser.getSelected();
  99     Integer chosenDefense = 0;
 100
 101     switch (chosenPosition) {
 102     case 1:
 103       chosenDefense = (Integer) positionOneDefense.getSelected();
 104     case 2:
 105       chosenDefense = (Integer) positionTwoDefense.getSelected();
 106     case 3:
 107       chosenDefense = (Integer) positionThreeDefense.getSelected();
 108     case 4:
 109       chosenDefense = (Integer) positionFourDefense.getSelected();
 110     case 5:
 111       chosenDefense = (Integer) positionFiveDefense.getSelected();
 112     }
 113
 114     System.out.println("Chosen Position: " + chosenPosition);
 115     System.out.println("Chosen Defense: " + chosenDefense);
 116   }
 117
 118   @Override
 119   public void autonomousPeriodic() {
 120     Scheduler.getInstance().run();
 121   }
 122
 123   @Override
 124   public void teleopInit() {
 125   }
 126
 127   @Override
 128   public void teleopPeriodic() {
 129     Scheduler.getInstance().run();
 130
 131   }
 132 }