moved some commands to autoninit

[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 8d69370ed8702c5db2ab20d5105bfe1fc7f120c0..9bc45b8f2c73ca742e7f332ff1fee083c63201ca 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -7,7 +7,6 @@ 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.I2C;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -26,34 +25,20 @@ public class Robot extends IterativeRobot {
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   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;
+  positionFourDefense, positionFiveDefense;
 
   @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
+    // shooter = new Shooter();
+    // scaler = new Scaler();
+    // intakeArm = new IntakeArm();
+    //
     // initializeSendableChoosers();
     // addPositionChooserOptions();
-    // addDefensesToAllDefenseSendableChooosers();
+    // addDefensesToAllDefenseSendableChoosers();
     // sendSendableChoosersToSmartDashboard();
 
   }
@@ -75,7 +60,7 @@ public class Robot extends IterativeRobot {
     positionChooser.addObject("Position 5", 5);
   }
 
-  private void addDefensesToAllDefenseSendableChooosers() {
+  private void addDefensesToAllDefenseSendableChoosers() {
     addDefenseOptions(positionOneDefense);
     addDefenseOptions(positionTwoDefense);
     addDefenseOptions(positionThreeDefense);
@@ -118,34 +103,42 @@ public class Robot extends IterativeRobot {
   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);
+    // // 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);
   }
 
   @Override
   public void autonomousPeriodic() {
     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 teleopInit() {
+    // Scheduler.getInstance().add(new JoystickDrive());
+
   }
 
   @Override