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