Fix ports and unusuable code to make shooter test work

[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..71e156b6988aec38d24e6a40a9f4edcf6fb0fac1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,40 +1,143 @@
 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.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;
 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;
 
+  public static Scaler scaler;
+
+  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();
+
+    // shooter = new Shooter();
+    // scaler = new Scaler();
+    // intakeArm = new IntakeArm();
+    //
+    // 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();
+  }
+
+  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);
+  }
+
+  private void addDefensesToAllDefenseSendableChoosers() {
+    addDefenseOptions(positionOneDefense);
+    addDefenseOptions(positionTwoDefense);
+    addDefenseOptions(positionThreeDefense);
+    addDefenseOptions(positionFourDefense);
+    addDefenseOptions(positionFiveDefense);
+  }
+
+  private void addDefenseOptions(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);
+  }
+
+  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);
+
   }
 
   @Override
   public void autonomousInit() {
+    Scheduler.getInstance().run();
+
+    // 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
   public void autonomousPeriodic() {
     Scheduler.getInstance().run();
-
   }
 
   @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();
 
+    }
   }
+
 }