add Sendable Chooser for what is the front of the robot

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index a68c32cc56b948ce46b6b0619dd93263bc16a99a..1fe6b76305ef1335b6a5810acf54c252a589ac49 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -22,7 +22,9 @@ public class Robot extends IterativeRobot {
   public static Photogate photogate;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser defenseChooser;
+  private static SendableChooser defenseChooser;
+  private static SendableChooser frontChooser;
+  boolean choseIntakeIsFront;
 
   @Override
   public void robotInit() {
@@ -36,6 +38,15 @@ public class Robot extends IterativeRobot {
     defenseChooser = new SendableChooser();
     addDefenseOptions(defenseChooser);
     SmartDashboard.putData("Defense Chooser", defenseChooser);
+
+    frontChooser = new SendableChooser();
+    addFrontChooserOptions();
+    SmartDashboard.putData("Front Chooser", frontChooser);
+  }
+
+  private void addFrontChooserOptions() {
+    frontChooser.addDefault("Intake is Back", false);
+    frontChooser.addObject("Intake is True", true);
   }
 
   private void addDefenseOptions(SendableChooser chooser) {
@@ -57,10 +68,16 @@ public class Robot extends IterativeRobot {
   @Override
   public void autonomousInit() {
     Defense chosenDefense = (Defense) (defenseChooser.getSelected());
+    choseIntakeIsFront = (boolean) frontChooser.getSelected();
+
+    // if the shooter is not the front (intake is front) - toggle the drivetrain
+    if (choseIntakeIsFront)
+      driveTrain.toggleFlipped();
 
     Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));
 
     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
+
   }
 
   @Override
@@ -70,6 +87,10 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
+    // if intake is front, switch back to shooter as front
+    if (choseIntakeIsFront)
+      driveTrain.toggleFlipped();
+
     Scheduler.getInstance().add(new SetLowGear());
   }