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.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import edu.wpi.first.wpilibj.Compressor;
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 Compressor compressor;
+
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
// addPositionChooserOptions();
// addDefensesToAllDefenseSendableChoosers();
// sendSendableChoosersToSmartDashboard();
+ compressor = new Compressor();
}
public void autonomousInit() {
Scheduler.getInstance().run();
- // // get options chosen from drop down menu
- // Integer chosenPosition = (Integer) positionChooser.getSelected();
- // Integer chosenDefense = 0;
- //
- // if (chosenPosition == 1)
- // chosenDefense = (Integer) positionOneDefense.getSelected();
- // else if (chosenPosition == 2)
- // chosenDefense = (Integer) positionTwoDefense.getSelected();
- // else if (chosenPosition == 3)
- // chosenDefense = (Integer) positionThreeDefense.getSelected();
- // else if (chosenPosition == 4)
- // chosenDefense = (Integer) positionFourDefense.getSelected();
- // else if (chosenPosition == 5)
- // chosenDefense = (Integer) positionFiveDefense.getSelected();
- //
- // System.out.println("Chosen Position: " + chosenPosition);
- // System.out.println("Chosen Defense: " + chosenDefense);
- }
-
- @Override
- public void autonomousPeriodic() {
- Scheduler.getInstance().run();
// 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 Turn180());
}
+ @Override
+ public void autonomousPeriodic() {
+ Scheduler.getInstance().run();
+ }
+
@Override
public void teleopInit() {
- // Scheduler.getInstance().add(new JoystickDrive());
+ Scheduler.getInstance().add(new JoystickDrive());
+ compressor.start();
+ driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
+ driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
}
@Override