private IRIAutonChooser() {
start = new SendableChooser();
start.addObject("Low Bar (1)", Start.POS_1);
start.addObject("Position 2", Start.POS_2);
start.addDefault("Position 3", Start.POS_3);
start.addObject("Position 4", Start.POS_4);
start.addObject("Secret Passage (5)", Start.POS_5);
cross = new SendableChooser();
cross.addObject("A: Cheval De Frise (Left Return)", Cross.CHEVAL_DE_FRISE_A);
cross.addObject("A: Cheval De Frise (Right Return)", Cross.CHEVAL_DE_FRISE_B);
cross.addObject("B: Moat", Cross.MOAT);
cross.addObject("B: Ramparts", Cross.RAMPARTS);
cross.addObject("D: Rock Wall", Cross.ROCK_WALL);
cross.addDefault("D: Rough Terrain", Cross.ROUGH_TERRAIN);
cross.addObject("Low Bar", Cross.LOW_BAR);
chevalReturn = new SendableChooser();
chevalReturn.addObject("Low Bar", Cross.LOW_BAR);
chevalReturn.addObject("B: Moat", Cross.MOAT);
chevalReturn.addObject("B: Ramparts", Cross.RAMPARTS);
chevalReturn.addObject("C: Sally Port", Cross.SALLY_PORT);
chevalReturn.addObject("C: Drawbridge", Cross.DRAWBRIDGE);
chevalReturn.addObject("D: Rock Wall", Cross.ROCK_WALL);
chevalReturn.addDefault("D: Rough Terrain", Cross.ROUGH_TERRAIN);
post = new SendableChooser();
post.addDefault("Straighten", Post.STRAIGHTEN);
post.addObject("Go Back", Post.GO_BACK);
post.addObject("Attempt Two Ball", Post.TWO_BALL);
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
chooser = new SendableChooser();
chooser.addDefault("Default Auto", defaultAuto);
chooser.addObject("My Auto", customAuto);
SmartDashboard.putData("Auto choices", chooser);
controlMethod = new SendableChooser();
controlMethod.addDefault("Tank Control", tankControl);
controlMethod.addObject("Stick Control", stickControl);
controlMethod.addObject("Clayton Control", claytonControl);
SmartDashboard.putData("Control method", controlMethod);
rightMotor = new CANTalon(RIGHT_INDEX);
rightSlave = new CANTalon(RIGHT_INDEX + 1);
rightSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
rightSlave.set(RIGHT_INDEX);
rightMotor.setInverted(true);
leftMotor = new CANTalon(LEFT_INDEX);
leftSlave = new CANTalon(LEFT_INDEX + 1);
leftSlave.changeControlMode(CANTalon.TalonControlMode.Follower);
leftSlave.set(LEFT_INDEX);
intakeMotor = new CANTalon(INTAKE_INDEX);
// Arm motor is currently disabled
// armMotor = new CANTalon(ARM_INDEX);
compressor = new Compressor(0);
compressor.setClosedLoopControl(true);
intakePneumatic = new DoubleSolenoid(1, 2);
intakePneumatic.set(DoubleSolenoid.Value.kOff);
gamepad = new Gamepad(0);
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser);
}
public ControlMethodSelector() {
controlMethod = new SendableChooser();
controlMethod.addDefault("Tank Control", tankControl);
controlMethod.addObject("Stick Control", stickControl);
controlMethod.addObject("Clayton Control", claytonControl);
SmartDashboard.putData("Control method", controlMethod);
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
RobotMap.init();
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
chassisrotate = new Chassisrotate();
vision = new Vision();
chassis = new Chassis();
elevator = new Elevator();
shooter = new Shooter();
pickupBelt = new PickupBelt();
pickupShaft = new PickupShaft();
climber = new Climber();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
autoChooser = new SendableChooser();
autoChooser.addDefault("Autonomous Position 1", new AutonomousCommand1());
autoChooser.addObject("Autonomous Position 2", new AutonomousCommand2());
SmartDashboard.putData("Autonomous Mode Chooser", autoChooser);
// This MUST be here. If the OI creates Commands (which it very likely
// will), constructing it during the construction of CommandBase (from
// which commands extend), subsystems are not guaranteed to be
// yet. Thus, their requires() statements may grab null pointers. Bad
// news. Don't move it.
oi = new OI();
SmartDashboard.putData(Robot.chassis);
// instantiate the command used for the autonomous period
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
autonomousCommand = new AutonomousCommand1();
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
woodDrive = new Drivetrain();
testShooter = new Shooter();
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Default Auto", new WoodDrive());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser);
}
public AutoSpreadsheet(String filename, String commandPackage) {
this.filename = filename;
this.commandPackage = commandPackage;
selectedAuto = new String();
// System.out.println("begin of AutoSpreadsheet Constructor");
autoChooser = new SendableChooser();
// System.out.println(MarsRock.class.getName());
autoChooser.addDefault("Mars Rock", new MarsRock());
// System.out.println("end of AutoSpreadsheet Constructor");
}
// * This function is run when the robot is first started up and should be
// * used for any initialization code.
// *
public void robotInit() {
// Initialize all subsystems.
pdp = new PDP();
drivetrain = new Drivetrain();
elevator = new Elevator();
toteContact = new ToteContactSensor();
lights = new FunLights();
vl = new VisionLights();
camera = new Camera();
new Thread(camera).start();
oi = new OI();
autonomousChooser.addDefault("No Autonomous", new AutonomousNone());
autonomousChooser.addObject("Left Yellow Tote", new AutonomousLeft());
autonomousChooser.addObject("Pull Bins Down", new AutoDriveNoLift());
SmartDashboard.putData("Autonomous Mode", autonomousChooser);
ledChooser.addObject("Off", new SetLEDColors(0));
ledChooser.addObject("White", new SetLEDColors(1));
ledChooser.addObject("Red", new SetLEDColors(2));
ledChooser.addObject("Blue", new SetLEDColors(3));
ledChooser.addDefault("Green", new SetLEDColors(4));
ledChooser.addObject("Yellow", new SetLEDColors(5));
ledChooser.addObject("Cyan", new SetLEDColors(6));
ledChooser.addObject("Magenta", new SetLEDColors(7));
ledChooser.addObject("Elevator", null);
SmartDashboard.putData("LED Color", ledChooser);
vlChooser.addDefault("Cam LEDs Off", new SetVisionLights(0));
vlChooser.addObject("Cam LEDs On", new SetVisionLights(1));
SmartDashboard.putData("Vision Lights", vlChooser);
// Show what command the subsystem is running on the SmartDashboard.
SmartDashboard.putData(drivetrain);
SmartDashboard.putData(elevator);
SmartDashboard.putData(toteContact);
SmartDashboard.putData(lights);
}
public void setupAutonomous() {
autoChooser = new SendableChooser();
// autoChooser.addDefault("Default: Drive Into Auto Zone", new AutoCGDriveStraightOneSecond());
autoChooser.addObject("Strafe Right Into Auto Zone", new AutoCGStrafeRight());
autoChooser.addObject("Strafe Left Into Auto Zone", new AutoCGStrafeLeft());
autoChooser.addDefault("Push Tote Forward", new AutoCGToteSetDriveForwardHook());
autoChooser.addObject("Lowers Arm - Does NOT move", new AutoCGDoNothing());
autoChooser.addObject("Picks Up Container And Drives Backwards", new AutoCGContainerPickup());
autoChooser.addObject("Picks Up Container And Does Not Drive", new AutoCGPickUpContainer());
SmartDashboard.putData("Autonomous Mode Chooser", autoChooser);
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser);
try {
/* Communicate w/navX-MXP via the MXP SPI Bus. */
/* Alternatively: I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB */
/* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
ahrs = new AHRS(SPI.Port.kMXP);
} catch (RuntimeException ex) {
DriverStation.reportError("Error instantiating navX-MXP: " + ex.getMessage(), true);
}
}
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
public void robotInit() {
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Auto1RightLow", new Auto1RightLow()); /*-Default-*/
chooser.addObject("Auto1RightHigh", new Auto1RightHigh());
chooser.addObject("Auto2RightLow", new Auto2RightLow());
chooser.addObject("Auto3MidHigh", new Auto3MidHigh());
chooser.addObject("Auto4MidHigh", new Auto4MidHigh());
chooser.addObject("Auto5LeftLow", new Auto5LeftLow());
chooser.addObject("Auto5MidHigh", new Auto5MidHigh());
chooser.addObject("AutoCross", new AutoCross());
chooser.addObject("AutoGenericRightLow", new AutoGenericRightLow());
chooser.addObject("AutoGenericLeftLow", new AutoGenericLeftLow());
// chooser.addObject("My Auto", new MyAutoCommand());
SmartDashboard.putData("Auto mode", chooser);
CameraServer.getInstance().startAutomaticCapture("cam2");
}
public void robotInit() {
// chooser = new SendableChooser();
com = new Compressor(RobotMap.PCM_ID);
oi = new OI();
drive = new DriveSubsystem();
intakeArm = new IntakeArmSubsystem();
intakeWheel = new IntakeWheelSubsystem();
climbPiston = new ClimbPistonSubsystem();
liftClimb = new LiftClimbSubsystem();
pushup = new PushupSubsystem();
oi.initButtonCommands();
driveChooser = new SendableChooser();
driveChooser.addDefault("Tedious Tank", new TankDriveCommand());
SmartDashboard.putData("Drive Chooser", driveChooser);
// chooser.addDefault("No operation autonomous", new WaitCommand(1));
// chooser.addObject("Main Autonomous", new TimedAuto());
// chooser.addObject("High Speed Auto", new HighSpeedAuto());
// chooser.addObject("Sandwhich!", new SandwichCommand());
// SmartDashboard.putData("Autonomous chooser", chooser);
// test.start();
}