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 FirebotGyro gyro;
  35
  36   double initialSpeedNanoseconds;
  37   double finalSpeedNanoseconds;
  38   double initialSpeedSeconds;
  39   double finalSpeedSeconds;
  40   double deltaSpeed;
  41   double degrees;
  42
  43   @Override
  44   public void robotInit() {
  45     // driveTrain = new DriveTrain();
  46     gyro = new FirebotGyro(I2C.Port.kOnboard, (byte) 0x68);
  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     SmartDashboard.putData("Position Four Defense Chooser",
 112         positionFourDefense);
 113     SmartDashboard.putData("Position Five Defense Chooser",
 114         positionFiveDefense);
 115
 116     shooter = new Shooter();
 117   }
 118
 119   @Override
 120   public void autonomousInit() {
 121     Scheduler.getInstance().run();
 122
 123     // get options chosen from drop down menu
 124     Integer chosenPosition = (Integer) positionChooser.getSelected();
 125     Integer chosenDefense = 0;
 126
 127     switch (chosenPosition) {
 128     case 1:
 129       chosenDefense = (Integer) positionOneDefense.getSelected();
 130     case 2:
 131       chosenDefense = (Integer) positionTwoDefense.getSelected();
 132     case 3:
 133       chosenDefense = (Integer) positionThreeDefense.getSelected();
 134     case 4:
 135       chosenDefense = (Integer) positionFourDefense.getSelected();
 136     case 5:
 137       chosenDefense = (Integer) positionFiveDefense.getSelected();
 138     }
 139
 140     System.out.println("Chosen Position: " + chosenPosition);
 141     System.out.println("Chosen Defense: " + chosenDefense);
 142   }
 143
 144   @Override
 145   public void autonomousPeriodic() {
 146     Scheduler.getInstance().run();
 147   }
 148
 149   @Override
 150   public void teleopInit() {
 151   }
 152
 153   @Override
 154   public void teleopPeriodic() {
 155     Scheduler.getInstance().run();
 156   }
 157 }