fix Robot.java bug: intantiate IntakeArm subsystem, not constants

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 051aac623c756d54bc2f5ecf1e3555ceafcebcb2..9d97660caace18d282b4bef5fdf54e6f2503b47c 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 import org.usfirst.frc.team3501.robot.subsystems.Scaler;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
@@ -11,119 +12,119 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class Robot extends IterativeRobot {
-  public static OI oi;
-  public static DriveTrain driveTrain;
-  public static Shooter shooter;
-  public static Scaler scaler;
-
-  // Sendable Choosers send a drop down menu to the Smart Dashboard.
-  SendableChooser positionChooser;
-  SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-      positionFourDefense, positionFiveDefense;
-
-  @Override
-  public void robotInit() {
-    driveTrain = new DriveTrain();
-    oi = new OI();
-    shooter = new Shooter();
-    scaler = new Scaler();
-
-    // 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();
-    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("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 addDefensesToAllDefenseSendableChooosers() {
-    addDefenseOptions(positionOneDefense);
-    addDefenseOptions(positionTwoDefense);
-    addDefenseOptions(positionThreeDefense);
-    addDefenseOptions(positionFourDefense);
-    addDefenseOptions(positionFiveDefense);
-  }
-
-  private void addDefenseOptions(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);
-  }
-
-  private void sendSendableChoosersToSmartDashboard() {
-    SmartDashboard.putData("PositionChooser", positionChooser);
-    SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
-    SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
-    SmartDashboard.putData("Position Three Defense Chooser",
-        positionThreeDefense);
-    SmartDashboard.putData("Position Four Defense Chooser",
-        positionFourDefense);
-    SmartDashboard.putData("Position Five Defense Chooser",
-        positionFiveDefense);
-  }
-
-  @Override
-  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);
-  }
-
-  @Override
-  public void autonomousPeriodic() {
-    Scheduler.getInstance().run();
-  }
-
-  @Override
-  public void teleopInit() {
-  }
-
-  @Override
-  public void teleopPeriodic() {
-    Scheduler.getInstance().run();
-
-  }
+       public static OI oi;
+       public static DriveTrain driveTrain;
+       public static Shooter shooter;
+       public static Scaler scaler;
+       public static IntakeArm intakeArm;
+
+       // Sendable Choosers send a drop down menu to the Smart Dashboard.
+       SendableChooser positionChooser;
+       SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, positionFourDefense,
+                       positionFiveDefense;
+
+       @Override
+       public void robotInit() {
+               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
+               initializeSendableChoosers();
+               addPositionChooserOptions();
+               addDefensesToAllDefenseSendableChooosers();
+               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("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 addDefensesToAllDefenseSendableChooosers() {
+               addDefenseOptions(positionOneDefense);
+               addDefenseOptions(positionTwoDefense);
+               addDefenseOptions(positionThreeDefense);
+               addDefenseOptions(positionFourDefense);
+               addDefenseOptions(positionFiveDefense);
+       }
+
+       private void addDefenseOptions(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);
+       }
+
+       private void sendSendableChoosersToSmartDashboard() {
+               SmartDashboard.putData("PositionChooser", positionChooser);
+               SmartDashboard.putData("Position One Defense Chooser", positionOneDefense);
+               SmartDashboard.putData("Position Two Defense Chooser", positionTwoDefense);
+               SmartDashboard.putData("Position Three Defense Chooser", positionThreeDefense);
+               SmartDashboard.putData("Position Four Defense Chooser", positionFourDefense);
+               SmartDashboard.putData("Position Five Defense Chooser", positionFiveDefense);
+       }
+
+       @Override
+       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);
+       }
+
+       @Override
+       public void autonomousPeriodic() {
+               Scheduler.getInstance().run();
+       }
+
+       @Override
+       public void teleopInit() {
+       }
+
+       @Override
+       public void teleopPeriodic() {
+               Scheduler.getInstance().run();
+
+       }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
index 8f19f39a162f45e7addf4c895b08bee364ea2aa6..7dbabcb4d0e6a79d913a64e6e955cbc68e7de981 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/MoveIntakeArm.java
@@ -1,18 +1,25 @@
 package org.usfirst.frc.team3501.robot.commands;
 
+import org.usfirst.frc.team3501.robot.Robot;
+
 import edu.wpi.first.wpilibj.command.Command;
 
 public class MoveIntakeArm extends Command {
 
        public MoveIntakeArm() {
+               requires(Robot.intakeArm);
        }
 
        @Override
        protected void initialize() {
+               Robot.intakeArm.getArmAngle();
        }
 
        @Override
        protected void execute() {
+               if (Robot.intakeArm.getArmVoltage() == 1) {
+
+               }
        }
 
        @Override