package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.driving.JoystickDrive;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
-import org.usfirst.frc.team3501.robot.subsystems.Photogate;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
- public static Photogate photogate;
-
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
-
- // Gyro stuff
- public GyroLib gyro;
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
- gyro = new GyroLib(I2C.Port.kOnboard, false);
-
- shooter = new Shooter();
- scaler = new Scaler();
- intakeArm = new IntakeArm();
- initializeSendableChoosers();
- addPositionChooserOptions();
- addDefensesToAllDefenseSendableChoosers();
- sendSendableChoosersToSmartDashboard();
+ // shooter = new Shooter();
+ // scaler = new Scaler();
+ // intakeArm = new IntakeArm();
+ //
+ // initializeSendableChoosers();
+ // addPositionChooserOptions();
+ // addDefensesToAllDefenseSendableChoosers();
+ // sendSendableChoosersToSmartDashboard();
}
public void autonomousInit() {
Scheduler.getInstance().run();
- // get options chosen from drop down menu
- Integer chosenPosition = (Integer) positionChooser.getSelected();
- Integer chosenDefense = 0;
-
- switch (chosenPosition) {
- case 1:
- chosenDefense = (Integer) positionOneDefense.getSelected();
- case 2:
- chosenDefense = (Integer) positionTwoDefense.getSelected();
- case 3:
- chosenDefense = (Integer) positionThreeDefense.getSelected();
- case 4:
- chosenDefense = (Integer) positionFourDefense.getSelected();
- case 5:
- chosenDefense = (Integer) positionFiveDefense.getSelected();
- }
-
- System.out.println("Chosen Position: " + chosenPosition);
- System.out.println("Chosen Defense: " + chosenDefense);
+ // Scheduler.getInstance().add(new DriveDistance(24, 5));
+ // Scheduler.getInstance().add(new DriveForTime(2, 0.3));
+ // Scheduler.getInstance().add(new TurnForAngle(90, 5));
+ // Scheduler.getInstance().add(
+ // new TurnForTime(3, Constants.Direction.RIGHT, 0.3));
+ // Scheduler.getInstance().add(
+ // new TurnForTime(3, Constants.Direction.LEFT, 0.3));
+ // Scheduler.getInstance().add(new Turn180());
}
@Override
@Override
public void teleopInit() {
-
- gyro.start();
+ Scheduler.getInstance().add(new JoystickDrive());
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
- System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
}
}