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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.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.Bot;
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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.enumeration.Position;
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import org.usfirst.frc.team3695.robot.subsystems.*;
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import org.usfirst.frc.team3695.robot.util.Util;
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// _____ _____ ____ ______ ______ _ ____ _
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// |__ / / ___/ / __ \ / ____/ / ____/ ____ _ __ (_) ____ ___ __ __ _____ / __ \ _____ (_) ____ ___ ___
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// /_ < / __ \ / /_/ / /___ \ / /_ / __ \ | |/_/ / / / __ `__ \ / / / / / ___/ / /_/ / / ___/ / / / __ `__ \ / _ \
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// ___/ / / /_/ / \__, / ____/ / / __/ / /_/ / _> < / / / / / / / // /_/ / (__ ) / ____/ / / / / / / / / / // __/
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// /____/ \____/ /____/ /_____/ /_/ \____/ /_/|_| /_/ /_/ /_/ /_/ \__,_/ /____/ /_/ /_/ /_/ /_/ /_/ /_/ \___/
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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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public static Bot bot;
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/// choosers
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SendableChooser<Bot> botChooser;
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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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/// instantiate bot chooser
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botChooser = new SendableChooser<>();
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botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND);
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botChooser.addObject(Bot.OOF.toString(), Bot.OOF);
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SmartDashboard.putData("Bot", botChooser);
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if (botChooser.getSelected() != null){
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bot = botChooser.getSelected();
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} else {
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bot = Bot.OOF;
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}
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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_DRIVE.pid.setPIDF(.5, 0, 0, 0);
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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 center
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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 position 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 goal to chooser
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SmartDashboard.putData("Goal", goalChooser); //display the chooser on the dash
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/// instantiate bot chooser
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botChooser = new SendableChooser<>();
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botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND);
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botChooser.addObject(Bot.OOF.toString(), Bot.OOF);
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SmartDashboard.putData("Bot", botChooser);
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/// instantiate cameras
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vision.startScrewCameraThread();
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vision.startFrameCameraThread();
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SmartDashboard.putData("Sub_Drive", SUB_DRIVE);
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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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Scheduler.getInstance().removeAll();
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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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bot = (botChooser.getSelected() != null) ? botChooser.getSelected() : bot; // update motor inverts
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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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bot = (botChooser.getSelected() != null) ? botChooser.getSelected() : bot; // update motor inverts
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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
wh1ter0se
Brogan
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See this CWE advisory on why this is a security issue.