public static OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+
public static Scaler scaler;
+
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
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();
+ addDefensesToAllDefenseSendableChoosers();
sendSendableChoosersToSmartDashboard();
}
positionChooser.addObject("Position 5", 5);
}
- private void addDefensesToAllDefenseSendableChooosers() {
+ private void addDefensesToAllDefenseSendableChoosers() {
addDefenseOptions(positionOneDefense);
addDefenseOptions(positionTwoDefense);
addDefenseOptions(positionThreeDefense);
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();
- }
-
- 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);
-
- shooter = new Shooter();
}
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);
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
}
+
}