Remove sendable choosers, fix joystick driving bug, use right twist instead of right...

[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 2b58d19d22d5f41dfce87d95c7ab1dd98b0fc04c..e3b51888b5f6a2d65cfb531616bd73db08f33f9d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.CameraServer;
 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;
@@ -30,38 +29,21 @@ public class Robot extends IterativeRobot {
 
     oi = new OI();
 
-    initializeSendableChooser();
-    addFrontChooserOptions();
-    sendSendableChooserToSmartDashboard();
-
     camera = CameraServer.getInstance();
-    camera.setQuality(50);
+    camera.setQuality(25);
     camera.startAutomaticCapture("cam0");
   }
 
-  private void initializeSendableChooser() {
-    frontChooser = new SendableChooser();
-  }
-
-  private void addFrontChooserOptions() {
-    frontChooser.addDefault("Intake", false);
-    frontChooser.addObject("Shooter", true);
-  }
-
-  private void sendSendableChooserToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", frontChooser);
-  }
-
   @Override
   public void autonomousInit() {
-    // get options chosen from drop down menu
-    boolean flip = (boolean) frontChooser.getSelected();
-
-    if (flip) {
-      driveTrain.toggleFlipped();
-    }
-
-    Scheduler.getInstance().add(new TimeDrive(4, .7));
+    //
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.RETRACT));
+    // Scheduler.getInstance().add(new TimeDrive(1, .6));
+    // Scheduler.getInstance().add(new WaitCommand(1));
+    // Scheduler.getInstance().add(new
+    // MoveIntakeArm(Constants.IntakeArm.EXTEND));
+    Scheduler.getInstance().add(new TimeDrive(8, -.8));
   }
 
   @Override