Robot.java 文件源码

/** Called on robot boot. */
    public void robotInit() {
        catapult   = new Catapult();
        driveTrain = new DriveTrain();
        leds       = new LEDStrip();
        intake     = new Intake();
        ledring    = new LEDRing();
        staticleds = new StaticLEDStrip();
        compressor = new Compressor(RobotMap.PORT_SWITCH_COMPRESSO, RobotMap.PORT_RELAY_COMPRESSOR);
        compressor.start();

        // Initialize OI last so it doesn't try to access null subsystems
        oi         = new OI();

        //SmartDashboard.putBoolean("Wait longer", true);
        SmartDashboard.putData("Arms out", new SetArmPosition(2));
        SmartDashboard.putData("Arms in", new SetArmPosition(0));
//        SmartDashboard.putData("Prefire", new PreFire());
        CommandGroup armsMoveWait = new CommandGroup();
        armsMoveWait.addSequential(new PrintCommand("Arms up"));
        armsMoveWait.addSequential(new SetArmPosition(0, false));
        armsMoveWait.addSequential(new PrintCommand("Arms are up"));
        armsMoveWait.addSequential(new WaitCommand(0.5));
        armsMoveWait.addSequential(new PrintCommand("Arms down"));
        armsMoveWait.addSequential(new SetArmPosition(2, false));
        armsMoveWait.addSequential(new PrintCommand("Arms are down"));
        SmartDashboard.putData("Arms move wait", armsMoveWait);
        CommandGroup armsMoveNoWait = new CommandGroup();
        armsMoveNoWait.addSequential(new SetArmPosition(0, false));
        armsMoveNoWait.addSequential(new SetArmPosition(2, false));
        SmartDashboard.putData("Arms move no wait", armsMoveNoWait);
        SmartDashboard.putData("Arms in quick", new SetArmPosition(0,false));

        // The names, and corresponding Commands of our autonomous modes
        autonomiceNames = new String[]{"Drive Forward","1 Ball Hot","1 Ball Blind","2 Ball"};
        autonomice = new Command[]{new DriveForward(0.8, 5250),new DriveAndShoot(),new DriveAndShootNoWait(),new DriveAndShoot2Ball()};

        // Configure and send the SendableChooser, which allows autonomous modes
        // to be chosen via radio button on the SmartDashboard
        System.out.println(autonomice.length + " autonomice");
        for (int i = 0; i < autonomice.length; ++i) {
            chooser.addObject(autonomiceNames[i], autonomice[i]);
        }
        SmartDashboard.putData("Which Autonomouse?", chooser);
        SmartDashboard.putData(Scheduler.getInstance());

        /*SmartDashboard.putData("Test conditional", new Conditional(new WaitCommand(0.5), new WaitCommand(3.0)) {
            protected boolean condition() {
               return SmartDashboard.getBoolean("Wait longer", false);
            }
        });*/
        // Send sensor info to the SmartDashboard periodically
        new Command("Sensor feedback") {
            protected void initialize() {}
            protected void execute() {
                sendSensorData();
            }
            protected boolean isFinished() {
                return false;
            }
            protected void end() {}
            protected void interrupted() {
                end();
            }
        }.start();
        leds.initTable(NetworkTable.getTable("SmartDashboard"));
        ledring.initTable(NetworkTable.getTable("SmartDashboard"));
        staticleds.initTable(NetworkTable.getTable("SmartDashboard"));
    }