Change shooter to function off of two pistons, remove punch, shooter motors, and...

[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 425e6704ae5e2170bcefe31c57d7899047c86ea4..473ceea020e60b41df523807c6cbcccac22a0fb2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,14 +1,13 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.AnotherGyroClass.Rotation;
 import org.usfirst.frc.team3501.robot.Constants.Defense;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 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.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -20,7 +19,6 @@ public class Robot extends IterativeRobot {
   public static Shooter shooter;
 
   public static Scaler scaler;
-  double then;
 
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
@@ -30,35 +28,19 @@ public class Robot extends IterativeRobot {
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
       positionFourDefense, positionFiveDefense;
 
-  // Gyro stuff
-  short rawValue;
-  public GyroClass gyro;
-
-  double now;
-  double degreesIncreased;
-  double degrees;
-
-  Rotation rotation;
-
   @Override
   public void robotInit() {
-    // driveTrain = new DriveTrain();
-    gyro = new GyroClass(I2C.Port.kOnboard, gyro.ITG3200_ADDRESS_AD0_LOW);
-    // oi = new OI();
+    driveTrain = new DriveTrain();
+    oi = new OI();
 
     shooter = new Shooter();
     scaler = new Scaler();
     intakeArm = new IntakeArm();
 
-    // 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();
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChoosers();
+    sendSendableChoosersToSmartDashboard();
 
   }
 
@@ -79,7 +61,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -104,15 +86,15 @@ public class Robot extends IterativeRobot {
     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);
+    SmartDashboard
+        .putData("Position Four Defense Chooser", positionFourDefense);
+    SmartDashboard
+        .putData("Position Five Defense Chooser", positionFiveDefense);
 
-    SmartDashboard.putData("Position Four Defense Chooser",
-        positionFourDefense);
-    SmartDashboard.putData("Position Five Defense Chooser",
-        positionFiveDefense);
+    SmartDashboard
+        .putData("Position Four Defense Chooser", positionFourDefense);
+    SmartDashboard
+        .putData("Position Five Defense Chooser", positionFiveDefense);
 
     shooter = new Shooter();
 
@@ -126,18 +108,16 @@ public class Robot extends IterativeRobot {
     Integer chosenPosition = (Integer) positionChooser.getSelected();
     Integer chosenDefense = 0;
 
-    switch (chosenPosition) {
-    case 1:
+    if (chosenPosition == 1)
       chosenDefense = (Integer) positionOneDefense.getSelected();
-    case 2:
+    else if (chosenPosition == 2)
       chosenDefense = (Integer) positionTwoDefense.getSelected();
-    case 3:
+    else if (chosenPosition == 3)
       chosenDefense = (Integer) positionThreeDefense.getSelected();
-    case 4:
+    else if (chosenPosition == 4)
       chosenDefense = (Integer) positionFourDefense.getSelected();
-    case 5:
+    else if (chosenPosition == 5)
       chosenDefense = (Integer) positionFiveDefense.getSelected();
-    }
 
     System.out.println("Chosen Position: " + chosenPosition);
     System.out.println("Chosen Defense: " + chosenDefense);
@@ -150,44 +130,13 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+                                                      // of each match.
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-  }
-
-  public double getZAxisDegreesPerSeconds() {
-    double rawValue = (double) gyro.getRotationZ() / 14.375;
-    return rawValue;
-  }
-
-  public void initializeGyro() {
-    degrees = 0;
-    then = System.nanoTime() / 1000000000.0;
-    gyro.reset();
-    gyro.initialize();
-    System.out.println("Testing Gyro Init");
-  }
-
-  public void addZAxisDegrees() {
-    double degreesRead = getZAxisDegreesPerSeconds();
-    now = System.nanoTime();
-    now = now / (1000000000.0);
-    double differenceInTime = now - then;
-    then = now;
-    degreesIncreased = differenceInTime * degreesRead;
-
-    // 0.0 = register
-    // + 1.0 is the formula constant
-    //
-    degrees += degreesIncreased;
-
-  }
-
-  public double getDegrees() {
-    return degrees;
   }
 
 }