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.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
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;
public static Shooter shooter;
public static Scaler scaler;
- double then;
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
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
+
+ // shooter = new Shooter();
+ // scaler = new Scaler();
+ // intakeArm = new IntakeArm();
+ //
// initializeSendableChoosers();
// addPositionChooserOptions();
- // addDefensesToAllDefenseSendableChooosers();
+ // addDefensesToAllDefenseSendableChoosers();
// sendSendableChoosersToSmartDashboard();
}
positionChooser.addObject("Position 5", 5);
}
- private void addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
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);
-
- shooter = new Shooter();
+ SmartDashboard
+ .putData("Position Four Defense Chooser", positionFourDefense);
+ SmartDashboard
+ .putData("Position Five Defense Chooser", positionFiveDefense);
}
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);
+ // 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
@Override
public void teleopInit() {
+ Robot.driveTrain.setLowGear();
+ Robot.shooter.raiseHood();
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
+ if (OI.rightJoystick.getTrigger()) {
+ Robot.shooter.setSpeed(.8);
+ } else {
+ Robot.shooter.setSpeed(0);
+ }
+ if (OI.rightJoystick.getRawButton(2)) {
+ Robot.shooter.extendPunch();
+ } else {
+ Robot.shooter.retractPunch();
- }
-
- 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;
+ }
}
}