package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
- positionFourDefense, positionFiveDefense;
+ positionFourDefense, positionFiveDefense;
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
+ shooter = new Shooter();
+
// shooter = new Shooter();
// scaler = new Scaler();
// intakeArm = new IntakeArm();
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;
- //
- // if (chosenPosition == 1)
- // chosenDefense = (Integer) positionOneDefense.getSelected();
- // else if (chosenPosition == 2)
- // chosenDefense = (Integer) positionTwoDefense.getSelected();
- // else if (chosenPosition == 3)
- // chosenDefense = (Integer) positionThreeDefense.getSelected();
- // else if (chosenPosition == 4)
- // chosenDefense = (Integer) positionFourDefense.getSelected();
- // else if (chosenPosition == 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() {
- 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 JoystickDrive());
- // Scheduler.getInstance().add(new Turn180());
+ 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();
+
+ }
}
}