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 6b9a28e720eaee68932c6ab9dcb6046eb48d7702..473ceea020e60b41df523807c6cbcccac22a0fb2 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,6 +1,11 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.Constants.DriveTrain;
+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.IterativeRobot;
@@ -13,58 +18,58 @@ public class Robot extends IterativeRobot {
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
-  enum Defense {
-    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
-  };
+  public static Scaler scaler;
 
-  SendableChooser positionOneDefense;
-  SendableChooser positionTwoDefense;
-  SendableChooser positionThreeDefense;
-  SendableChooser positionFourDefense;
-  SendableChooser positionFiveDefense;
+  public static IntakeArm intakeArm;
+  public static DefenseArm defenseArm;
+
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
+  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
+
     shooter = new Shooter();
+    scaler = new Scaler();
+    intakeArm = new IntakeArm();
 
-    // intialize all the Sendable Choosers
+    initializeSendableChoosers();
+    addPositionChooserOptions();
+    addDefensesToAllDefenseSendableChoosers();
+    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
-    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 addDefensesToAllDefenseSendableChoosers() {
+    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);
@@ -75,6 +80,26 @@ public class Robot extends IterativeRobot {
     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);
+
+    SmartDashboard
+        .putData("Position Four Defense Chooser", positionFourDefense);
+    SmartDashboard
+        .putData("Position Five Defense Chooser", positionFiveDefense);
+
+    shooter = new Shooter();
+
+  }
+
   @Override
   public void autonomousInit() {
     Scheduler.getInstance().run();
@@ -85,13 +110,13 @@ public class Robot extends IterativeRobot {
 
     if (chosenPosition == 1)
       chosenDefense = (Integer) positionOneDefense.getSelected();
-    if (chosenPosition == 2)
+    else if (chosenPosition == 2)
       chosenDefense = (Integer) positionTwoDefense.getSelected();
-    if (chosenPosition == 3)
+    else if (chosenPosition == 3)
       chosenDefense = (Integer) positionThreeDefense.getSelected();
-    if (chosenPosition == 4)
+    else if (chosenPosition == 4)
       chosenDefense = (Integer) positionFourDefense.getSelected();
-    if (chosenPosition == 5)
+    else if (chosenPosition == 5)
       chosenDefense = (Integer) positionFiveDefense.getSelected();
 
     System.out.println("Chosen Position: " + chosenPosition);
@@ -105,17 +130,13 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-    System.out.println("running teleopInit");
+    Scheduler.getInstance().add(new ResetCatapult()); // Reset catapult at start
+                                                      // of each match.
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
-  }
-
-  public void operate() {
-
   }
 
 }