From 3366a59a6d8f355ac8bba05c7011f8458e0c96c0 Mon Sep 17 00:00:00 2001
From: Meryem Esa <meresa14@gmail.com>
Date: Sat, 23 Jan 2016 11:45:23 -0800
Subject: [PATCH] add smart dashboard autonomous selection

---
 src/org/usfirst/frc/team3501/robot/Robot.java | 80 ++++++++++++++++++-
 1 file changed, 79 insertions(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 79e12d9e..f42d6a41 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -5,31 +5,104 @@ import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 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;
   public static DriveTrain driveTrain;
   public static Shooter shooter;
 
+  enum Defense {
+    PORTCULLIS, SALLY_PORT, ROUGH_TERRAIN, LOW_BAR, CHEVAL_DE_FRISE, DRAWBRIDGE, MOAT, ROCK_WALL
+  };
+
+  SendableChooser positionOneDefense;
+  SendableChooser positionTwoDefense;
+  SendableChooser positionThreeDefense;
+  SendableChooser positionFourDefense;
+  SendableChooser positionFiveDefense;
+  SendableChooser positionChooser;
+
   @Override
   public void robotInit() {
     driveTrain = new DriveTrain();
     oi = new OI();
     shooter = new Shooter();
+
+    // intialize all the Sendable Choosers
+    positionChooser = new SendableChooser();
+    positionOneDefense = new SendableChooser();
+    positionTwoDefense = new SendableChooser();
+    positionThreeDefense = new SendableChooser();
+    positionFourDefense = new SendableChooser();
+    positionFiveDefense = new SendableChooser();
+
+    // add options for positions to the positionChooser
+    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);
+
+    // add options for defenses into each defense chooser (5)
+    addDefense(positionOneDefense);
+    addDefense(positionTwoDefense);
+    addDefense(positionThreeDefense);
+    addDefense(positionFourDefense);
+    addDefense(positionFiveDefense);
+
+    SmartDashboard.putData("Position", positionChooser);
+    SmartDashboard.putData("Position One Defense", positionOneDefense);
+    SmartDashboard.putData("Position Two Defense", positionTwoDefense);
+    SmartDashboard.putData("Position Three Defense", positionThreeDefense);
+    SmartDashboard.putData("Position Four Defense", positionFourDefense);
+    SmartDashboard.putData("Position Five Defense", positionFiveDefense);
+
+  }
+
+  private void addDefense(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);
   }
 
   @Override
   public void autonomousInit() {
+    Scheduler.getInstance().run();
+
+    // get options chosen from drop down menu
+    Integer chosenPosition = (Integer) positionChooser.getSelected();
+    Integer chosenDefense = -1;
+
+    if (chosenPosition == 1)
+      chosenDefense = (Integer) positionOneDefense.getSelected();
+    if (chosenPosition == 2)
+      chosenDefense = (Integer) positionTwoDefense.getSelected();
+    if (chosenPosition == 3)
+      chosenDefense = (Integer) positionThreeDefense.getSelected();
+    if (chosenPosition == 4)
+      chosenDefense = (Integer) positionFourDefense.getSelected();
+    if (chosenPosition == 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() {
+    System.out.println("running teleopInit");
   }
 
   @Override
@@ -37,4 +110,9 @@ public class Robot extends IterativeRobot {
     Scheduler.getInstance().run();
 
   }
+
+  public void operate() {
+
+  }
+
 }
-- 
2.30.2