Add testing stuff

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / Robot.java

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 9e2ec44650d72ef92a507aac67fe8ac8f35c860f..1f86b9bcf71889f6d610a76a737a211a0ce58ea5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,14 +1,14 @@
 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.Compressor;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -24,30 +24,27 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
-  public static Photogate photogate;
+  public static Compressor compressor;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
-  // Gyro stuff
-  public GyroLib gyro;
-
   @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();
+    compressor = new Compressor();
 
   }
 
@@ -111,23 +108,14 @@ public class Robot extends IterativeRobot {
   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);
+    // 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
@@ -138,16 +126,15 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopInit() {
 
-    gyro.start();
-
+    Scheduler.getInstance().add(new JoystickDrive());
+    compressor.start();
+    driveTrain.leftGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
+    driveTrain.rightGearPiston.set(Constants.DriveTrain.HIGH_GEAR);
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-    System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
   }
 
 }