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.IntakeArm;
   7 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
   8 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   9
  10 import edu.wpi.first.wpilibj.IterativeRobot;
  11 import edu.wpi.first.wpilibj.command.Scheduler;
  12 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  13 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  14
  15 public class Robot extends IterativeRobot {
  16   public static OI oi;
  17   public static DriveTrain driveTrain;
  18   public static Shooter shooter;
  19   public static Scaler scaler;
  20   public static IntakeArm intakeArm;
  21   public static DefenseArm defenseArm;
  22
  23   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  24   SendableChooser positionChooser;
  25   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  26       positionFourDefense, positionFiveDefense;
  27
  28   @Override
  29   public void robotInit() {
  30     driveTrain = new DriveTrain();
  31     oi = new OI();
  32
  33     shooter = new Shooter();
  34     scaler = new Scaler();
  35     intakeArm = new IntakeArm();
  36
  37     // Sendable Choosers allows the driver to select the position of the
  38     // robot
  39     // and the positions of the defenses from a drop-down menu on the Smart
  40     // Dashboard
  41     // make the Sendable Choosers
  42     initializeSendableChoosers();
  43     addPositionChooserOptions();
  44     addDefensesToAllDefenseSendableChooosers();
  45     sendSendableChoosersToSmartDashboard();
  46
  47   }
  48
  49   private void initializeSendableChoosers() {
  50     positionChooser = new SendableChooser();
  51     positionOneDefense = new SendableChooser();
  52     positionTwoDefense = new SendableChooser();
  53     positionThreeDefense = new SendableChooser();
  54     positionFourDefense = new SendableChooser();
  55     positionFiveDefense = new SendableChooser();
  56   }
  57
  58   private void addPositionChooserOptions() {
  59     positionChooser.addDefault("Position 1", 1);
  60     positionChooser.addObject("Position 2", 2);
  61     positionChooser.addObject("Position 3", 3);
  62     positionChooser.addObject("Position 4", 4);
  63     positionChooser.addObject("Position 5", 5);
  64   }
  65
  66   private void addDefensesToAllDefenseSendableChooosers() {
  67     addDefenseOptions(positionOneDefense);
  68     addDefenseOptions(positionTwoDefense);
  69     addDefenseOptions(positionThreeDefense);
  70     addDefenseOptions(positionFourDefense);
  71     addDefenseOptions(positionFiveDefense);
  72   }
  73
  74   private void addDefenseOptions(SendableChooser chooser) {
  75     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  76     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  77     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  78     chooser.addObject("Low Bar", Defense.LOW_BAR);
  79     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  80     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  81     chooser.addObject("Moat", Defense.MOAT);
  82     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  83   }
  84
  85   private void sendSendableChoosersToSmartDashboard() {
  86     SmartDashboard.putData("PositionChooser", positionChooser);
  87     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  88     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  89     SmartDashboard.putData("Position Three Defense Chooser",
  90         positionThreeDefense);
  91     SmartDashboard.putData("Position Four Defense Chooser",
  92         positionFourDefense);
  93     SmartDashboard.putData("Position Five Defense Chooser",
  94         positionFiveDefense);
  95     SmartDashboard.putData("Position Four Defense Chooser",
  96         positionFourDefense);
  97     SmartDashboard.putData("Position Five Defense Chooser",
  98         positionFiveDefense);
  99
 100     shooter = new Shooter();
 101   }
 102
 103   private void addDefense(SendableChooser chooser) {
 104     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
 105     chooser.addObject("Sally Port", Defense.SALLY_PORT);
 106     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
 107     chooser.addObject("Low Bar", Defense.LOW_BAR);
 108     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
 109     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
 110     chooser.addObject("Moat", Defense.MOAT);
 111     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
 112
 113     shooter = new Shooter();
 114
 115   }
 116
 117   @Override
 118   public void autonomousInit() {
 119     Scheduler.getInstance().run();
 120
 121     // get options chosen from drop down menu
 122     Integer chosenPosition = (Integer) positionChooser.getSelected();
 123     Integer chosenDefense = 0;
 124
 125     switch (chosenPosition) {
 126     case 1:
 127       chosenDefense = (Integer) positionOneDefense.getSelected();
 128     case 2:
 129       chosenDefense = (Integer) positionTwoDefense.getSelected();
 130     case 3:
 131       chosenDefense = (Integer) positionThreeDefense.getSelected();
 132     case 4:
 133       chosenDefense = (Integer) positionFourDefense.getSelected();
 134     case 5:
 135       chosenDefense = (Integer) positionFiveDefense.getSelected();
 136     }
 137
 138     System.out.println("Chosen Position: " + chosenPosition);
 139     System.out.println("Chosen Defense: " + chosenDefense);
 140   }
 141
 142   @Override
 143   public void autonomousPeriodic() {
 144     Scheduler.getInstance().run();
 145   }
 146
 147   @Override
 148   public void teleopInit() {
 149   }
 150
 151   @Override
 152   public void teleopPeriodic() {
 153     Scheduler.getInstance().run();
 154
 155   }
 156 }