Changes between Initial Version and Version 1 of ControlSystems/SoftwareTeam/Training/IntroRobotJava/XboxExample

Timestamp:

Oct 7, 2019, 9:39:55 PM (6 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/IntroRobotJava/XboxExample

@@ +1 @@
+{{{
+/*----------------------------------------------------------------------------*/
+/* 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.IterativeRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.Hand;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * 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 IterativeRobot {
+  private static final String kDefaultAuto = "Default";
+  private static final String kCustomAuto = "My Auto";
+  private String m_autoSelected;
+  private final SendableChooser<String> m_chooser = new SendableChooser<>();
+  private XboxController xbox;
+
+  /**
+   * This function is run when the robot is first started up and should be
+   * used for any initialization code.
+   */
+  @Override
+  public void robotInit() {
+    m_chooser.setDefaultOption("Default Auto", kDefaultAuto);
+    m_chooser.addOption("My Auto", kCustomAuto);
+    SmartDashboard.putData("Auto choices", m_chooser);
+    xbox = new XboxController(0);
+  }
+
+  /**
+   * 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() {
+    SmartDashboard.putNumber("Left Joystick X", xbox.getX(Hand.kLeft));
+  }
+
+  /**
+   * 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 line to get the auto name from the text box below the Gyro
+   *
+   * <p>You can add additional auto modes by adding additional comparisons to
+   * the switch structure below with additional strings. If using the
+   * SendableChooser make sure to add them to the chooser code above as well.
+   */
+  @Override
+  public void autonomousInit() {
+    m_autoSelected = m_chooser.getSelected();
+    // autoSelected = SmartDashboard.getString("Auto Selector",
+    // defaultAuto);
+    System.out.println("Auto selected: " + m_autoSelected);
+  }
+
+  /**
+   * This function is called periodically during autonomous.
+   */
+  @Override
+  public void autonomousPeriodic() {
+    switch (m_autoSelected) {
+      case kCustomAuto:
+        // Put custom auto code here
+        break;
+      case kDefaultAuto:
+      default:
+        // Put default auto code here
+        break;
+    }
+  }
+
+  /**
+   * This function is called periodically during operator control.
+   */
+  @Override
+  public void teleopPeriodic() {
+  }
+
+  /**
+   * This function is called periodically during test mode.
+   */
+  @Override
+  public void testPeriodic() {
+  }
+}
+}}}