Merge branch 'master' of https://github.com/Coconuts2486-FRC/FRC2020

Coconuts2486-FRC · Feb 19, 2020 · 790ffe7 · 790ffe7
2 parents 8ea26c2 + 41bc6a5
commit 790ffe7
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Showing 2 changed files with 59 additions and 4 deletions.
diff --git a/FRC2020/src/main/java/frc/robot/Autonomous/AutoMissions.java b/FRC2020/src/main/java/frc/robot/Autonomous/AutoMissions.java
@@ -1,14 +1,30 @@
 package frc.robot.Autonomous;
 
-public class AutoMissions{
+import frc.robot.Map;
 
-    public static void TrenchAuto(){
+public class AutoMissions {
+
+    public static String CurrentAuto = "None Selected";
+    public static double SelectedAuto = 0;
+    //SmartDashboard.putString("Auto Mode", AutoMissions.CurrentAuto);
+
+    public static void NoAutoSelected(){
+        CurrentAuto = "None Selected";
+        Map.driveTrain.lf.set(0);
+        Map.driveTrain.lr.set(0);
+        Map.driveTrain.rf.set(0);
+        Map.driveTrain.rr.set(0);
+    }
+
+    public static void TrenchRun(){
+        CurrentAuto = "TrenchRun";
 
 
     }
 
     public static void GeneratorAuto(){
+        CurrentAuto = "GeneratorAuto";
+
 
-
     }
 }
diff --git a/FRC2020/src/main/java/frc/robot/Robot.java b/FRC2020/src/main/java/frc/robot/Robot.java
@@ -4,6 +4,12 @@
 
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+<<<<<<< HEAD
+=======
+import frc.robot.Autonomous.AutoMissions;
+import frc.robot.Cartridge.pixyControl;
+import frc.robot.Color_Wheel.ColorSensor;
+>>>>>>> 41bc6a56fde2d046687205cc30fa675a6331f4c6
 import frc.robot.Turret.TurretControl;
 import frc.robot.Turret.TurretDisplay;
 import frc.robot.Turret.TurretMotion;
@@ -17,12 +23,30 @@ public void robotInit() {
   }
 
   public void robotPeriodic(){
+    SmartDashboard.putString("Auto Mode", AutoMissions.CurrentAuto);
+    SmartDashboard.getNumber("Auto Selection", AutoMissions.SelectedAuto);
+
+
+
 
   }
 
   @Override
   public void autonomousInit() {
+<<<<<<< HEAD
     Map.Turret.motors.rotation.setSelectedSensorPosition(0);
+=======
+    if(AutoMissions.SelectedAuto == 0){
+      AutoMissions.NoAutoSelected();
+    }
+    if(AutoMissions.SelectedAuto == 1){
+      AutoMissions.TrenchRun();
+    }
+
+    if(AutoMissions.SelectedAuto == 2){
+      AutoMissions.GeneratorAuto();
+    }
+>>>>>>> 41bc6a56fde2d046687205cc30fa675a6331f4c6
   }
 
   @Override
@@ -38,10 +62,21 @@ public void teleopInit() {
   public void teleopPeriodic() {
     TurretControl.run(); // Runs turret
     TurretDisplay.display(); // Displays LimeLight stats
-    //pixyControl.run(); // Runs pixy homing automation
+    pixyControl.run(); // Runs pixy homing automation
 
+<<<<<<< HEAD
     //DriveTrain.drive();
     //pistonlift.run();
+=======
+    //DriveTrain.drive(); // Driver Controll ** BIG DEAL ** (needs to have correct CAN IDs)
+    /*
+    if(Map.Controllers.xbox.getRawButton(1)){
+      LimeLight.LED.on();
+    }else{
+      LimeLight.LED.off();
+    }
+    */
+>>>>>>> 41bc6a56fde2d046687205cc30fa675a6331f4c6
   }
 
   @Override
@@ -50,10 +85,14 @@ public void testInit() {
 
   @Override
   public void testPeriodic() {
+<<<<<<< HEAD
     if(Map.Controllers.driverLeft.getRawButtonPressed(3)){
       Map.Turret.motors.rotation.setSelectedSensorPosition(0);
     }
     SmartDashboard.putNumber("Position!!! ", TurretMotion.Rotation.getDegrees());
+=======
+    SmartDashboard.putNumber("Red: ", ColorSensor.GetColor());
+>>>>>>> 41bc6a56fde2d046687205cc30fa675a6331f4c6
   }
 
 }