remove position chooser and make one Sendable Chooser for the defense in front of...

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 30926c7af8a9e6b0168b2fa1181e4b59bda65ba0..b17303db083e4ce8a87b1b80db29284299c30fc1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -22,9 +22,7 @@ public class Robot extends IterativeRobot {
   public static Photogate photogate;
 
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
+  SendableChooser defenseChooser;
 
   @Override
   public void robotInit() {
@@ -35,36 +33,9 @@ public class Robot extends IterativeRobot {
     oi = new OI();
     photogate = new Photogate();
 
-    initializeSendableChoosers();
-    addPositionChooserOptions();
-    addDefensesToAllDefenseSendableChoosers();
-    sendSendableChoosersToSmartDashboard();
-  }
-
-  private void initializeSendableChoosers() {
-    positionChooser = new SendableChooser();
-    positionOneDefense = new SendableChooser();
-    positionTwoDefense = new SendableChooser();
-    positionThreeDefense = new SendableChooser();
-    positionFourDefense = new SendableChooser();
-    positionFiveDefense = new SendableChooser();
-  }
-
-  private void addPositionChooserOptions() {
-    positionChooser.addDefault("None", 0);
-    positionChooser.addObject("Position 1", 1);
-    positionChooser.addObject("Position 2", 2);
-    positionChooser.addObject("Position 3", 3);
-    positionChooser.addObject("Position 4", 4);
-    positionChooser.addObject("Position 5", 5);
-  }
-
-  private void addDefensesToAllDefenseSendableChoosers() {
-    addDefenseOptions(positionOneDefense);
-    addDefenseOptions(positionTwoDefense);
-    addDefenseOptions(positionThreeDefense);
-    addDefenseOptions(positionFourDefense);
-    addDefenseOptions(positionFiveDefense);
+    defenseChooser = new SendableChooser();
+    addDefenseOptions(defenseChooser);
+    SmartDashboard.putData("Defense Chooser", defenseChooser);
   }
 
   private void addDefenseOptions(SendableChooser chooser) {
@@ -77,40 +48,16 @@ public class Robot extends IterativeRobot {
     chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
     chooser.addObject("Moat" + Auton.MOAT_SPEED + " " + Auton.MOAT_TIME,
         Defense.MOAT);
-    chooser.addObject("Rock Wall" + Auton.ROCK_WALL_SPEED + " "
-        + Auton.ROCK_WALL_TIME, Defense.ROCK_WALL);
-  }
-
-  private void sendSendableChoosersToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", positionChooser);
-    SmartDashboard.putData("Position 1 Defense Chooser", positionOneDefense);
-    SmartDashboard.putData("Position 2 Defense Chooser", positionTwoDefense);
-    SmartDashboard.putData("Position 3 Defense Chooser", positionThreeDefense);
-    SmartDashboard.putData("Position 4 Defense Chooser", positionFourDefense);
-    SmartDashboard.putData("Position 5 Defense Chooser", positionFiveDefense);
-
+    chooser.addObject(
+        "Rock Wall" + Auton.ROCK_WALL_SPEED + " " + Auton.ROCK_WALL_TIME,
+        Defense.ROCK_WALL);
   }
 
   @Override
   public void autonomousInit() {
-    // get options chosen from drop down menu
-    Integer chosenPosition = (Integer) positionChooser.getSelected();
-    Defense chosenDefense = null;
-
-    if (chosenPosition == 1)
-      chosenDefense = (Defense) positionOneDefense.getSelected();
-    else if (chosenPosition == 2)
-      chosenDefense = (Defense) positionTwoDefense.getSelected();
-    else if (chosenPosition == 3)
-      chosenDefense = (Defense) positionThreeDefense.getSelected();
-    else if (chosenPosition == 4)
-      chosenDefense = (Defense) positionFourDefense.getSelected();
-    else if (chosenPosition == 5)
-      chosenDefense = (Defense) positionFiveDefense.getSelected();
+    Defense chosenDefense = (Defense) (defenseChooser.getSelected());
 
-    if (chosenPosition != 0)
-      Scheduler.getInstance().add(
-          new ChooseStrategy(chosenPosition, chosenDefense));
+    Scheduler.getInstance().add(new ChooseStrategy(chosenDefense));
 
     // Scheduler.getInstance().add(new TimeDrive(.6, 4));
   }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/auton/ChooseStrategy.java b/src/org/usfirst/frc/team3501/robot/commands/auton/ChooseStrategy.java
index 256c2a684bb922e344841c564a68fbdbe2581dbd..20b85781c63946c52425a9e4b4a369d7c9be6876 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/auton/ChooseStrategy.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/auton/ChooseStrategy.java
@@ -6,7 +6,7 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
 
 public class ChooseStrategy extends CommandGroup {
 
-  public ChooseStrategy(int position, Defense defense) {
+  public ChooseStrategy(Defense defense) {
 
     // TODO: test for all the "pass defense" command groups
     if (defense == Defense.PORTCULLIS)