Java Code Examples for edu.wpi.first.wpilibj.smartdashboard.SmartDashboard#putData()

public AutoModeSelector() {
    mStartPositionChooser = new SendableChooser<>();
    mStartPositionChooser.setDefaultOption("Left HAB 2", StartingPosition.LEFT_HAB_2);
    mStartPositionChooser.addOption("Right HAB 2", StartingPosition.RIGHT_HAB_2);
    mStartPositionChooser.addOption("Right HAB 1", StartingPosition.RIGHT_HAB_1);
    mStartPositionChooser.addOption("Left HAB 1", StartingPosition.LEFT_HAB_1);
    mStartPositionChooser.addOption("Center HAB 1", StartingPosition.CENTER_HAB_1);

    SmartDashboard.putData("Starting Position", mStartPositionChooser);

    mModeChooser = new SendableChooser<>();
    mModeChooser.setDefaultOption("Drive By Camera", DesiredMode.DRIVE_BY_CAMERA);
    mModeChooser.addOption("Do Nothing", DesiredMode.DO_NOTHING);
    mModeChooser.addOption("Rocket 1", DesiredMode.LOW_ROCKET);
    mModeChooser.addOption("Rocket 2", DesiredMode.MIDDLE_ROCKET);
    mModeChooser.addOption("Cargo Ship 2 Hatch", DesiredMode.SIDE_CARGO_SHIP_HATCH);
    mModeChooser.addOption("Front Then Side Cargo Ship",
            DesiredMode.FRONT_THEN_SIDE_CARGO_SHIP);
    mModeChooser.addOption("Test control flow", DesiredMode.TEST_CONTROL_FLOW);
    mModeChooser.addOption("Drive Characterization - Straight Line", DesiredMode.DRIVE_CHARACTERIZATION_STRAIGHT);
    mModeChooser.addOption("Drive Characterization - TUrn in Place", DesiredMode.DRIVE_CHARACTERIZATION_TURN);
    SmartDashboard.putData("Auto mode", mModeChooser);
}
 

public AutoModeSelector() {
    mModeChooser = new SendableChooser<>();
    mModeChooser.addDefault("Cross Auto Line", DesiredMode.CROSS_AUTO_LINE);
    mModeChooser.addObject("Do Nothing", DesiredMode.DO_NOTHING);
    mModeChooser.addObject("Simple switch", DesiredMode.SIMPLE_SWITCH);
    mModeChooser.addObject("Scale AND Switch", DesiredMode.SCALE_AND_SWITCH);
    mModeChooser.addObject("Only Scale", DesiredMode.ONLY_SCALE);
    SmartDashboard.putData("Auto mode", mModeChooser);

    mStartPositionChooser = new SendableChooser<>();
    mStartPositionChooser.addDefault("Right", StartingPosition.RIGHT);
    mStartPositionChooser.addObject("Center", StartingPosition.CENTER);
    mStartPositionChooser.addObject("Left", StartingPosition.LEFT);
    SmartDashboard.putData("Starting Position", mStartPositionChooser);

    mSwitchScalePositionChooser = new SendableChooser<>();
    mSwitchScalePositionChooser.addDefault("Use FMS Data", SwitchScalePosition.USE_FMS_DATA);
    mSwitchScalePositionChooser.addObject("Left Switch Left Scale", SwitchScalePosition.LEFT_SWITCH_LEFT_SCALE);
    mSwitchScalePositionChooser.addObject("Left Switch Right Scale", SwitchScalePosition.LEFT_SWITCH_RIGHT_SCALE);
    mSwitchScalePositionChooser.addObject("Right Switch Left Scale", SwitchScalePosition.RIGHT_SWITCH_LEFT_SCALE);
    mSwitchScalePositionChooser.addObject("Right Switch Right Scale", SwitchScalePosition.RIGHT_SWITCH_RIGHT_SCALE);
    SmartDashboard.putData("Switch and Scale Position", mSwitchScalePositionChooser);

}
 

/** assigns what every SmartDash and controller button does */
public OI() {
	/// manipulator wheels
		Button spinIn = new JoystickButton(OPERATOR, Xbox.RB);
				spinIn.whileHeld(new ButtonCommandEat());
		Button spinOut = new JoystickButton(OPERATOR, Xbox.LB);
				spinOut.whileHeld(new ButtonCommandSpit());
	/// manipulator clamp
		Button toggleClamp = new JoystickButton(OPERATOR, Xbox.A);
			toggleClamp.toggleWhenActive(new ToggleCommandClamp());
	/// candy cane
		Button toggleHook = new JoystickButton(OPERATOR, Xbox.B);
			toggleHook.toggleWhenActive(new ToggleCommandHook());
	/// drop the mast
		Button dropIt = new JoystickButton(OPERATOR, Xbox.X);
			dropIt.toggleWhenPressed(new ButtonCommandHitTheDeck());
	/// Reversing mode
		Button toggleReverse = new JoystickButton(DRIVER, Xbox.Y);
			toggleReverse.toggleWhenPressed(new ToggleCommandReverse());
	/// Docking mode
		Button toggleDock = new JoystickButton(DRIVER, Xbox.X);
			toggleDock.toggleWhenPressed(new ToggleCommandDock());
	/// To Compress, or Not To Compress. It is now an option.
		SmartDashboard.putData("Disable Compressor", new ToggleCommandKillCompressor());
		

	/// PID
		SmartDashboard.putData("Kill PID", new ToggleCommandKillPID());
		SmartDashboard.putNumber("Right Encoder Position", 0);
		SmartDashboard.putNumber("Left Encoder Position", 0);
		
	/// limit switch displays
		SmartDashboard.putBoolean("Lower Screw", true);
    	SmartDashboard.putBoolean("Upper Screw", false);
    	SmartDashboard.putBoolean("Lower Pinion", true);
    	SmartDashboard.putBoolean("Upper Pinion", false);
    	
    	SmartDashboard.putNumber("Left inches", 0);
    	SmartDashboard.putNumber("Right inches", 0);
    	
    	DriverStation.reportWarning("OI IS INSTANTIATED", false);

    /// Cyborg command testers
		SmartDashboard.putData("Drive Direct", new CyborgCommandDriveDirect(Util.getAndSetDouble("Drive Direct Power", 0)));
		SmartDashboard.putData("Drive Distance", new CyborgCommandDriveDistance(Util.getAndSetDouble("Drive Distance Inches", 0)));
		SmartDashboard.putData("Drive Until Error", new CyborgCommandDriveUntilError());
		SmartDashboard.putData("Rotate Degree", new CyborgCommandRotateDegrees(Util.getAndSetDouble("Rotate Degrees", 0)));
		SmartDashboard.putData("Spit", new CyborgCommandSpit((long)Util.getAndSetDouble("Spit Time", 500)));
		SmartDashboard.putData("Raise to Position: Pinion Up", new CyborgCommandGrow(Mast.PINION_UP));
		SmartDashboard.putData("Raise to Position: Pinion Down", new CyborgCommandGrow(Mast.PINION_DOWN));
		SmartDashboard.putData("Raise to Position: Screw Up", new CyborgCommandGrow(Mast.SCREW_UP));
		SmartDashboard.putData("Raise to Position: Screw Down", new CyborgCommandGrow(Mast.SCREW_DOWN));
}
 

/** runs when robot is turned on */
	public void robotInit() {
		/// instantiate bot chooser
		botChooser = new SendableChooser<>();
		botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND);
		botChooser.addObject(Bot.OOF.toString(), Bot.OOF);
		SmartDashboard.putData("Bot", botChooser);

		if (botChooser.getSelected() != null){
			bot = botChooser.getSelected();
		} else {
			bot = Bot.OOF;
		}

			DriverStation.reportWarning("ROBOT STARTED; GOOD LUCK", false);
		/// instantiate subsystems
//			SUB_ARDUINO = new SubsystemArduino();
			SUB_MANIPULATOR = new SubsystemManipulator();
			SUB_CLAMP = new SubsystemClamp();
			SUB_COMPRESSOR = new SubsystemCompressor();
			SUB_DRIVE = new SubsystemDrive();
			
			SUB_DRIVE.pid.setPIDF(.5, 0, 0, 0);
			
			SUB_HOOK = new SubsystemHook();
			SUB_MAST = new SubsystemMast();
			vision = new Vision();

		/// instantiate operator interface
			oi = new OI();

			
			
		/// instantiate drivetrain chooser
				driveChooser = new SendableChooser<>();
				driveChooser.addDefault(Drivetrain.ROCKET_LEAGUE.toString(), Drivetrain.ROCKET_LEAGUE); // set default to RL drive
				for(int i = 1; i < Drivetrain.values().length; i++) { 
					driveChooser.addObject(Drivetrain.values()[i].toString(), Drivetrain.values()[i]); } // add each drivetrain enum value to chooser
				SmartDashboard.putData("Drivetrain", driveChooser); //display the chooser on the dash
			
		/// instantiate position chooser
				positionChooser = new SendableChooser<>();
				positionChooser.addDefault(Position.CENTER.toString(), Position.CENTER); // set default to center
				for(int i = 1; i < Position.values().length; i++) { 
					positionChooser.addObject(Position.values()[i].toString(), Position.values()[i]); } // add each position enum value to chooser
				SmartDashboard.putData("Position", positionChooser); //display the chooser on the dash

		/// instantiate goal chooser
				goalChooser = new SendableChooser<>();
				goalChooser.addDefault(Goal.NOTHING.toString(), Goal.NOTHING); // set default to nothing
				for(int i = 1; i < Goal.values().length; i++) { 
					goalChooser.addObject(Goal.values()[i].toString(), Goal.values()[i]); } // add each autonomous goal to chooser
				SmartDashboard.putData("Goal", goalChooser); //display the chooser on the dash
			
		/// instantiate bot chooser
				botChooser = new SendableChooser<>();
				botChooser.addDefault(Bot.TEUFELSKIND.toString(), Bot.TEUFELSKIND);
					botChooser.addObject(Bot.OOF.toString(), Bot.OOF); 
				SmartDashboard.putData("Bot", botChooser);
				
				
				
		/// instantiate cameras
			vision.startScrewCameraThread();
			vision.startFrameCameraThread();

		SmartDashboard.putData("Sub_Drive", SUB_DRIVE);
		DriverStation.reportWarning("SUBSYSTEMS, CHOOSERS INSTANTIATED", false);
	}