import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
+import org.usfirst.frc.team3501.robot.subsystems.Photogate;
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;
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
+ public static Photogate photogate;
+
// Sendable Choosers send a drop down menu to the Smart Dashboard.
SendableChooser positionChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
+ // Gyro stuff
+ public GyroLib gyro;
+
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
shooter = new Shooter();
+ scaler = new Scaler();
+ intakeArm = new IntakeArm();
- // shooter = new Shooter();
- // scaler = new Scaler();
- // intakeArm = new IntakeArm();
- //
// initializeSendableChoosers();
// addPositionChooserOptions();
// addDefensesToAllDefenseSendableChoosers();
public void autonomousInit() {
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());
+ // // 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