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.I2C;
  11 import edu.wpi.first.wpilibj.IterativeRobot;
  12 import edu.wpi.first.wpilibj.command.Scheduler;
  13 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
  14 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  15
  16 public class Robot extends IterativeRobot {
  17   public static OI oi;
  18   public static DriveTrain driveTrain;
  19   public static Shooter shooter;
  20
  21   public static Scaler scaler;
  22
  23   public static IntakeArm intakeArm;
  24   public static DefenseArm defenseArm;
  25
  26   // Sendable Choosers send a drop down menu to the Smart Dashboard.
  27   SendableChooser positionChooser;
  28   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
  29       positionFourDefense, positionFiveDefense;
  30
  31   // Gyro stuff
  32   private final static double NANOSECONDS_PER_SECOND = 1000000000;
  33   short rawValue;
  34   public GyroClass gyro;
  35
  36   double degreesIncreased;
  37   double degrees;
  38
  39   @Override
  40   public void robotInit() {
  41     // driveTrain = new DriveTrain();
  42     gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68);
  43     // oi = new OI();
  44
  45     shooter = new Shooter();
  46     scaler = new Scaler();
  47     intakeArm = new IntakeArm();
  48
  49     // Sendable Choosers allows the driver to select the position of the
  50     // robot
  51     // and the positions of the defenses from a drop-down menu on the Smart
  52     // Dashboard
  53     // make the Sendable Choosers
  54     // initializeSendableChoosers();
  55     // addPositionChooserOptions();
  56     // addDefensesToAllDefenseSendableChooosers();
  57     // sendSendableChoosersToSmartDashboard();
  58
  59   }
  60
  61   private void initializeSendableChoosers() {
  62     positionChooser = new SendableChooser();
  63     positionOneDefense = new SendableChooser();
  64     positionTwoDefense = new SendableChooser();
  65     positionThreeDefense = new SendableChooser();
  66     positionFourDefense = new SendableChooser();
  67     positionFiveDefense = new SendableChooser();
  68   }
  69
  70   private void addPositionChooserOptions() {
  71     positionChooser.addDefault("Position 1", 1);
  72     positionChooser.addObject("Position 2", 2);
  73     positionChooser.addObject("Position 3", 3);
  74     positionChooser.addObject("Position 4", 4);
  75     positionChooser.addObject("Position 5", 5);
  76   }
  77
  78   private void addDefensesToAllDefenseSendableChooosers() {
  79     addDefenseOptions(positionOneDefense);
  80     addDefenseOptions(positionTwoDefense);
  81     addDefenseOptions(positionThreeDefense);
  82     addDefenseOptions(positionFourDefense);
  83     addDefenseOptions(positionFiveDefense);
  84   }
  85
  86   private void addDefenseOptions(SendableChooser chooser) {
  87     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  88     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  89     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  90     chooser.addObject("Low Bar", Defense.LOW_BAR);
  91     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  92     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  93     chooser.addObject("Moat", Defense.MOAT);
  94     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  95   }
  96
  97   private void sendSendableChoosersToSmartDashboard() {
  98     SmartDashboard.putData("PositionChooser", positionChooser);
  99     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
 100     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
 101     SmartDashboard.putData("Position Three Defense Chooser",
 102         positionThreeDefense);
 103     SmartDashboard.putData("Position Four Defense Chooser",
 104         positionFourDefense);
 105     SmartDashboard.putData("Position Five Defense Chooser",
 106         positionFiveDefense);
 107
 108     SmartDashboard.putData("Position Four Defense Chooser",
 109         positionFourDefense);
 110     SmartDashboard.putData("Position Five Defense Chooser",
 111         positionFiveDefense);
 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 }