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package org.usfirst.frc.team3695.robot;
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import edu.wpi.first.wpilibj.DriverStation;
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import edu.wpi.first.wpilibj.I2C;
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import edu.wpi.first.wpilibj.IterativeRobot;
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import edu.wpi.first.wpilibj.command.Scheduler;
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import edu.wpi.first.wpilibj.livewindow.LiveWindow;
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import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.auto.CommandGroupAuto;
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import org.usfirst.frc.team3695.robot.enumeration.Autonomous;
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import org.usfirst.frc.team3695.robot.enumeration.Position;
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import org.usfirst.frc.team3695.robot.enumeration.Drivetrain;
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import org.usfirst.frc.team3695.robot.enumeration.Goal;
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import org.usfirst.frc.team3695.robot.subsystems.*;
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/** the magic place where everything happens (where the sequence of events is controlled, top of the hierarchy) */
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public class Robot extends IterativeRobot {
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/// choosers
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SendableChooser<Goal> goalChooser;
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SendableChooser<Drivetrain> driveChooser;
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SendableChooser<Position> positionChooser;
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// add choosers as needed, these put drop down options in the smart dash
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/// subsystems
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// public static SubsystemArduino SUB_ARDUINO;
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public static SubsystemClamp SUB_CLAMP;
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public static SubsystemCompressor SUB_COMPRESSOR;
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public static SubsystemDrive SUB_DRIVE;
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public static SubsystemHook SUB_HOOK;
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public static SubsystemManipulator SUB_MANIPULATOR;
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public static SubsystemMast SUB_MAST;
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public static OI oi;
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public static Vision vision;
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/// autonomous
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private CommandGroupAuto auto;
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/** runs when robot is turned on */
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public void robotInit() {
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DriverStation.reportWarning("ROBOT STARTED; GOOD LUCK", false);
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/// instantiate subsystems
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// SUB_ARDUINO = new SubsystemArduino();
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SUB_MANIPULATOR = new SubsystemManipulator();
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SUB_CLAMP = new SubsystemClamp();
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SUB_COMPRESSOR = new SubsystemCompressor();
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SUB_DRIVE = new SubsystemDrive();
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SUB_HOOK = new SubsystemHook();
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SUB_MAST = new SubsystemMast();
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//vision = new Vision();
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/// instantiate operator interface
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oi = new OI();
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/// instantiate drivetrain chooser
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driveChooser = new SendableChooser<>();
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driveChooser.addDefault(Drivetrain.ROCKET_LEAGUE.toString(), Drivetrain.ROCKET_LEAGUE); // set default to RL drive
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for(int i = 1; i < Drivetrain.values().length; i++) {
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driveChooser.addObject(Drivetrain.values()[i].toString(), Drivetrain.values()[i]); } // add each drivetrain enum value to chooser
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SmartDashboard.putData("Drivetrain", driveChooser); //display the chooser on the dash
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/// instantiate position chooser
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positionChooser = new SendableChooser<>();
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positionChooser.addDefault(Position.CENTER.toString(), Position.CENTER); // set default to nothing
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for(int i = 1; i < Position.values().length; i++) {
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positionChooser.addObject(Position.values()[i].toString(), Position.values()[i]); } // add each autonomous enum value to chooser
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SmartDashboard.putData("Position", positionChooser); //display the chooser on the dash
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/// instantiate goal chooser
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goalChooser = new SendableChooser<>();
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goalChooser.addDefault(Goal.NOTHING.toString(), Goal.NOTHING); // set default to nothing
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for(int i = 1; i < Goal.values().length; i++) {
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goalChooser.addObject(Goal.values()[i].toString(), Goal.values()[i]); } // add each autonomous enum value to chooser
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SmartDashboard.putData("Goal", goalChooser); //display the chooser on the dash
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/// instantiate cameras
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// vision.startCameraThread();
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DriverStation.reportWarning("SUBSYSTEMS, CHOOSERS INSTANTIATED", false);
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}
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/** runs when robot gets disabled */
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public void disabledInit() {
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DriverStation.reportWarning("TELEOP IS DISABLED", false);
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}
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/** runs at 50hz when bot is disabled */
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public void disabledPeriodic() {
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Scheduler.getInstance().run();
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}
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/** runs when autonomous start */
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public void autonomousInit() {
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DriverStation.reportWarning("AUTONOMOUS IS STARTING...", false);
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if(goalChooser.getSelected() != null) {
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auto = new CommandGroupAuto(positionChooser.getSelected(), goalChooser.getSelected());
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auto.start();
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}
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}
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/** runs at 50hz when in autonomous */
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public void autonomousPeriodic() {
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Scheduler.getInstance().run();
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}
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/** runs when teleop starts*/
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public void teleopInit() {
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DriverStation.reportWarning("TELEOP IS ENABLED", false);
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if (auto != null)
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auto.cancel();
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}
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/** runs at ~50hz when in teleop mode */
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public void teleopPeriodic() {
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Scheduler.getInstance().run();
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if (driveChooser.getSelected() != null) {
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SUB_DRIVE.setDrivetrain(driveChooser.getSelected());
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}
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SUB_MANIPULATOR.spinByJoystick(OI.OPERATOR); // THIS IS A PATCH. DO AS I SAY, NOT AS I DO
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}
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/** runs at ~50hz when in test mode */
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public void testPeriodic() {
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LiveWindow.run();
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}
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}
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wh1ter0se /
PowerUp-2018
Loading history...
See this CWE advisory on why this is a security issue.