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;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
- // Gyro stuff
- private final static double NANOSECONDS_PER_SECOND = 1000000000;
- short rawValue;
- public GyroClass gyro;
-
- double degreesIncreased;
- double degrees;
-
@Override
public void robotInit() {
- // driveTrain = new DriveTrain();
- gyro = new GyroClass(I2C.Port.kOnboard, (byte) 0x68);
- // 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
- // initializeSendableChoosers();
- // addPositionChooserOptions();
- // addDefensesToAllDefenseSendableChooosers();
- // sendSendableChoosersToSmartDashboard();
+ initializeSendableChoosers();
+ addPositionChooserOptions();
+ addDefensesToAllDefenseSendableChoosers();
+ sendSendableChoosersToSmartDashboard();
}
positionChooser.addObject("Position 5", 5);
}
- private void addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
Integer chosenPosition = (Integer) positionChooser.getSelected();
Integer chosenDefense = 0;
- switch (chosenPosition) {
- case 1:
+ if (chosenPosition == 1)
chosenDefense = (Integer) positionOneDefense.getSelected();
- case 2:
+ else if (chosenPosition == 2)
chosenDefense = (Integer) positionTwoDefense.getSelected();
- case 3:
+ else if (chosenPosition == 3)
chosenDefense = (Integer) positionThreeDefense.getSelected();
- case 4:
+ else if (chosenPosition == 4)
chosenDefense = (Integer) positionFourDefense.getSelected();
- case 5:
+ else if (chosenPosition == 5)
chosenDefense = (Integer) positionFiveDefense.getSelected();
- }
System.out.println("Chosen Position: " + chosenPosition);
System.out.println("Chosen Defense: " + chosenDefense);