package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.IterativeRobot;
public static OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+ public static Scaler scaler;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
- SendableChooser positionOneDefense;
- SendableChooser positionTwoDefense;
- SendableChooser positionThreeDefense;
- SendableChooser positionFourDefense;
- SendableChooser positionFiveDefense;
SendableChooser positionChooser;
+ SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
shooter = new Shooter();
+ scaler = new Scaler();
- // initialize all the Sendable Choosers
+ // Sendable Choosers allows the driver to select the position of the robot
+ // and the positions of the defenses from a drop-down menu on the Smart
+ // Dashboard
+ // make the Sendable Choosers
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChooosers();
+ sendSendableChoosersToSmartDashboard();
+
+ }
+
+ private void initializeSendableChoosers() {
positionChooser = new SendableChooser();
positionOneDefense = new SendableChooser();
positionTwoDefense = new SendableChooser();
positionThreeDefense = new SendableChooser();
positionFourDefense = new SendableChooser();
positionFiveDefense = new SendableChooser();
+ }
- // add options for positions to the positionChooser
+ private void addPositionChooserOptions() {
positionChooser.addDefault("Position 1", 1);
positionChooser.addObject("Position 2", 2);
positionChooser.addObject("Position 3", 3);
positionChooser.addObject("Position 4", 4);
positionChooser.addObject("Position 5", 5);
+ }
- // add options for defenses into each defense chooser (5)
- addDefense(positionOneDefense);
- addDefense(positionTwoDefense);
- addDefense(positionThreeDefense);
- addDefense(positionFourDefense);
- addDefense(positionFiveDefense);
-
- // send the Sendable Choosers to the Smart Dashboard
- // Sendable Choosers allows the driver to select the position of the robot
- // and the positions of the defenses from a drop-down menu on the Smart
- // Dashboard
- SmartDashboard.putData("PositionChooser", positionChooser);
- SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
- SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
- SmartDashboard.putData("Position Three Defense Chooser",
- positionThreeDefense);
- SmartDashboard.putData("Position Four Defense Chooser",
- positionFourDefense);
- SmartDashboard.putData("Position Five Defense Chooser",
- positionFiveDefense);
+ private void addDefensesToAllDefenseSendableChooosers() {
+ addDefenseOptions(positionOneDefense);
+ addDefenseOptions(positionTwoDefense);
+ addDefenseOptions(positionThreeDefense);
+ addDefenseOptions(positionFourDefense);
+ addDefenseOptions(positionFiveDefense);
}
- private void addDefense(SendableChooser chooser) {
+ private void addDefenseOptions(SendableChooser chooser) {
chooser.addDefault("Portcullis", Defense.PORTCULLIS);
chooser.addObject("Sally Port", Defense.SALLY_PORT);
chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
chooser.addObject("Rock Wall", Defense.ROCK_WALL);
}
+ private void sendSendableChoosersToSmartDashboard() {
+ SmartDashboard.putData("PositionChooser", positionChooser);
+ SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
+ SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
+ SmartDashboard.putData("Position Three Defense Chooser",
+ positionThreeDefense);
+ SmartDashboard.putData("Position Four Defense Chooser",
+ positionFourDefense);
+ SmartDashboard.putData("Position Five Defense Chooser",
+ positionFiveDefense);
+ }
+
@Override
public void autonomousInit() {
Scheduler.getInstance().run();