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.DriveTrain;
   4 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
   5
   6 import edu.wpi.first.wpilibj.IterativeRobot;
   7 import edu.wpi.first.wpilibj.command.Scheduler;
   8 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
   9 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  10
  11 public class Robot extends IterativeRobot {
  12   public static OI oi;
  13   public static DriveTrain driveTrain;
  14   public static Shooter shooter;
  15
  16   enum Defense {
  17     PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
  18   };
  19
  20   SendableChooser positionOneDefense;
  21   SendableChooser positionTwoDefense;
  22   SendableChooser positionThreeDefense;
  23   SendableChooser positionFourDefense;
  24   SendableChooser positionFiveDefense;
  25   SendableChooser positionChooser;
  26
  27   @Override
  28   public void robotInit() {
  29     driveTrain = new DriveTrain();
  30     oi = new OI();
  31     shooter = new Shooter();
  32
  33     // intialize all the Sendable Choosers
  34     positionChooser = new SendableChooser();
  35     positionOneDefense = new SendableChooser();
  36     positionTwoDefense = new SendableChooser();
  37     positionThreeDefense = new SendableChooser();
  38     positionFourDefense = new SendableChooser();
  39     positionFiveDefense = new SendableChooser();
  40
  41     // add options for positions to the positionChooser
  42     positionChooser.addDefault("Position 1", 1);
  43     positionChooser.addObject("Position 2", 2);
  44     positionChooser.addObject("Position 3", 3);
  45     positionChooser.addObject("Position 4", 4);
  46     positionChooser.addObject("Position 5", 5);
  47
  48     // add options for defenses into each defense chooser (5)
  49     addDefense(positionOneDefense);
  50     addDefense(positionTwoDefense);
  51     addDefense(positionThreeDefense);
  52     addDefense(positionFourDefense);
  53     addDefense(positionFiveDefense);
  54
  55     // send the Sendable Choosers to the Smart Dashboard
  56     SmartDashboard.putData("PositionChooser", positionChooser);
  57     SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
  58     SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
  59     SmartDashboard.putData("Position Three Defense Chooser",
  60         positionThreeDefense);
  61     SmartDashboard.putData("Position Four Defense Chooser",
  62         positionFourDefense);
  63     SmartDashboard.putData("Position Five Defense Chooser",
  64         positionFiveDefense);
  65   }
  66
  67   private void addDefense(SendableChooser chooser) {
  68     chooser.addDefault("Portcullis", Defense.PORTCULLIS);
  69     chooser.addObject("Sally Port", Defense.SALLY_PORT);
  70     chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
  71     chooser.addObject("Low Bar", Defense.LOW_BAR);
  72     chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
  73     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
  74     chooser.addObject("Moat", Defense.MOAT);
  75     chooser.addObject("Rock Wall", Defense.ROCK_WALL);
  76   }
  77
  78   @Override
  79   public void autonomousInit() {
  80     Scheduler.getInstance().run();
  81
  82     // get options chosen from drop down menu
  83     Integer chosenPosition = (Integer) positionChooser.getSelected();
  84     Integer chosenDefense = 0;
  85
  86     if (chosenPosition == 1)
  87       chosenDefense = (Integer) positionOneDefense.getSelected();
  88     if (chosenPosition == 2)
  89       chosenDefense = (Integer) positionTwoDefense.getSelected();
  90     if (chosenPosition == 3)
  91       chosenDefense = (Integer) positionThreeDefense.getSelected();
  92     if (chosenPosition == 4)
  93       chosenDefense = (Integer) positionFourDefense.getSelected();
  94     if (chosenPosition == 5)
  95       chosenDefense = (Integer) positionFiveDefense.getSelected();
  96
  97     System.out.println("Chosen Position: " + chosenPosition);
  98     System.out.println("Chosen Defense: " + chosenDefense);
  99   }
 100
 101   @Override
 102   public void autonomousPeriodic() {
 103     Scheduler.getInstance().run();
 104   }
 105
 106   @Override
 107   public void teleopInit() {
 108     System.out.println("running teleopInit");
 109   }
 110
 111   @Override
 112   public void teleopPeriodic() {
 113     Scheduler.getInstance().run();
 114
 115   }
 116
 117   public void operate() {
 118
 119   }
 120
 121 }