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/*----------------------------------------------------------------------------*/ | |
/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */ | |
/* Open Source Software - may be modified and shared by FRC teams. The code */ | |
/* must be accompanied by the FIRST BSD license file in the root directory of */ | |
/* the project. */ | |
/*----------------------------------------------------------------------------*/ | |
package frc.robot; | |
import edu.wpi.first.wpilibj.TimedRobot; | |
import edu.wpi.first.wpilibj.command.Command; | |
import edu.wpi.first.wpilibj.command.Scheduler; | |
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; | |
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | |
import frc.robot.subsystems.DriveSubsystem; | |
import frc.robot.commands.ExampleCommand; | |
import frc.robot.subsystems.ExampleSubsystem; | |
/** | |
* The VM is configured to automatically run this class, and to call the | |
* functions corresponding to each mode, as described in the TimedRobot | |
* documentation. If you change the name of this class or the package after | |
* creating this project, you must also update the build.gradle file in the | |
* project. | |
*/ | |
public class Robot extends TimedRobot { | |
public static ExampleSubsystem m_subsystem = new ExampleSubsystem(); | |
public static DriveSubsystem DriveSubsystem = new DriveSubsystem(); | |
public static OI m_oi; | |
Command m_autonomousCommand; | |
SendableChooser<Command> m_chooser = new SendableChooser<>(); | |
/** | |
* This function is run when the robot is first started up and should be | |
* used for any initialization code. | |
*/ | |
@Override | |
public void robotInit() { | |
m_oi = new OI(); | |
m_chooser.setDefaultOption("Default Auto", new ExampleCommand()); | |
// chooser.addOption("My Auto", new MyAutoCommand()); | |
SmartDashboard.putData("Auto mode", m_chooser); | |
} | |
/** | |
* This function is called every robot packet, no matter the mode. Use | |
* this for items like diagnostics that you want ran during disabled, | |
* autonomous, teleoperated and test. | |
* | |
* <p>This runs after the mode specific periodic functions, but before | |
* LiveWindow and SmartDashboard integrated updating. | |
*/ | |
@Override | |
public void robotPeriodic() { | |
} | |
/** | |
* This function is called once each time the robot enters Disabled mode. | |
* You can use it to reset any subsystem information you want to clear when | |
* the robot is disabled. | |
*/ | |
@Override | |
public void disabledInit() { | |
} | |
@Override | |
public void disabledPeriodic() { | |
Scheduler.getInstance().run(); | |
} | |
/** | |
* This autonomous (along with the chooser code above) shows how to select | |
* between different autonomous modes using the dashboard. The sendable | |
* chooser code works with the Java SmartDashboard. If you prefer the | |
* LabVIEW Dashboard, remove all of the chooser code and uncomment the | |
* getString code to get the auto name from the text box below the Gyro | |
* | |
* <p>You can add additional auto modes by adding additional commands to the | |
* chooser code above (like the commented example) or additional comparisons | |
* to the switch structure below with additional strings & commands. | |
*/ | |
@Override | |
public void autonomousInit() { | |
m_autonomousCommand = m_chooser.getSelected(); | |
/* | |
* String autoSelected = SmartDashboard.getString("Auto Selector", | |
* "Default"); switch(autoSelected) { case "My Auto": autonomousCommand | |
* = new MyAutoCommand(); break; case "Default Auto": default: | |
* autonomousCommand = new ExampleCommand(); break; } | |
*/ | |
// schedule the autonomous command (example) | |
if (m_autonomousCommand != null) { | |
m_autonomousCommand.start(); | |
} | |
} | |
/** | |
* This function is called periodically during autonomous. | |
*/ | |
@Override | |
public void autonomousPeriodic() { | |
Scheduler.getInstance().run(); | |
} | |
@Override | |
public void teleopInit() { | |
// This makes sure that the autonomous stops running when | |
// teleop starts running. If you want the autonomous to | |
// continue until interrupted by another command, remove | |
// this line or comment it out. | |
if (m_autonomousCommand != null) { | |
m_autonomousCommand.cancel(); | |
} | |
} | |
/** | |
* This function is called periodically during operator control. | |
*/ | |
@Override | |
public void teleopPeriodic() { | |
Scheduler.getInstance().run(); | |
} | |
/** | |
* This function is called periodically during test mode. | |
*/ | |
@Override | |
public void testPeriodic() { | |
} | |
} |
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