Fix import issue to import the right drivetrain

[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 79e12d9e00d8adc2adeb8be51b8fd97fa8978459..63b18399873f930b0df50693438707e1fd325007 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,31 +1,109 @@
 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.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
   public static OI oi;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
+  // Sendable Choosers send a drop down menu to the Smart Dashboard.
+  SendableChooser positionOneDefense;
+  SendableChooser positionTwoDefense;
+  SendableChooser positionThreeDefense;
+  SendableChooser positionFourDefense;
+  SendableChooser positionFiveDefense;
+  SendableChooser positionChooser;
+
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
     shooter = new Shooter();
+
+    // initialize all the Sendable Choosers
+    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
+    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
+    // 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
+    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 addDefense(SendableChooser chooser) {
+    chooser.addDefault("Portcullis", Defense.PORTCULLIS);
+    chooser.addObject("Sally Port", Defense.SALLY_PORT);
+    chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
+    chooser.addObject("Low Bar", Defense.LOW_BAR);
+    chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
+    chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
+    chooser.addObject("Moat", Defense.MOAT);
+    chooser.addObject("Rock Wall", Defense.ROCK_WALL);
   }
 
   @Override
   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);
   }
 
   @Override
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @Override