From 4f03bb5589e09d5238b5575668af6deb46cc74ef Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Thu, 18 Feb 2016 12:40:55 -0800 Subject: [PATCH] add commands for testing drive in teleopinit --- src/org/usfirst/frc/team3501/robot/Robot.java | 62 +++++++++++-------- 1 file changed, 36 insertions(+), 26 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java index 80d78676..eb66cfb9 100644 --- a/src/org/usfirst/frc/team3501/robot/Robot.java +++ b/src/org/usfirst/frc/team3501/robot/Robot.java @@ -1,6 +1,7 @@ package org.usfirst.frc.team3501.robot; import org.usfirst.frc.team3501.robot.Constants.Defense; +import org.usfirst.frc.team3501.robot.commands.driving.DriveDistance; import org.usfirst.frc.team3501.robot.subsystems.DefenseArm; import org.usfirst.frc.team3501.robot.subsystems.DriveTrain; import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; @@ -25,21 +26,21 @@ public class Robot extends IterativeRobot { // Sendable Choosers send a drop down menu to the Smart Dashboard. SendableChooser positionChooser; SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense, - positionFourDefense, positionFiveDefense; + positionFourDefense, positionFiveDefense; @Override public void robotInit() { driveTrain = new DriveTrain(); oi = new OI(); - shooter = new Shooter(); - scaler = new Scaler(); - intakeArm = new IntakeArm(); - - initializeSendableChoosers(); - addPositionChooserOptions(); - addDefensesToAllDefenseSendableChoosers(); - sendSendableChoosersToSmartDashboard(); + // shooter = new Shooter(); + // scaler = new Scaler(); + // intakeArm = new IntakeArm(); + // + // initializeSendableChoosers(); + // addPositionChooserOptions(); + // addDefensesToAllDefenseSendableChoosers(); + // sendSendableChoosersToSmartDashboard(); } @@ -103,23 +104,23 @@ public class Robot extends IterativeRobot { public void autonomousInit() { Scheduler.getInstance().run(); - // 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); + // // 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 @@ -129,6 +130,15 @@ public class Robot extends IterativeRobot { @Override public void teleopInit() { + 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 JoystickDrive()); + // Scheduler.getInstance().add(new Turn180()); } @Override -- 2.30.2