Merge pull request #11 from kevinzwang/master

add RunScript command

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/RunScript.java

@@ -1,30 +1,62 @@
 package org.usfirst.frc.team199.Robot2018.commands;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Map;
+
+import org.usfirst.frc.team199.Robot2018.Robot;
+
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.CommandGroup;
+import edu.wpi.first.wpilibj.command.WaitCommand;
 
 /**
  * Gets the script name and runs the script.
  */
 public class RunScript extends CommandGroup implements RunScriptInterface {
 
     public RunScript(String scriptName) {
-    		// TODO
-    	
-        // Add Commands here:
-        // e.g. addSequential(new Command1());
-        //      addSequential(new Command2());
-        // these will run in order.
-
-        // To run multiple commands at the same time,
-        // use addParallel()
-        // e.g. addParallel(new Command1());
-        //      addSequential(new Command2());
-        // Command1 and Command2 will run in parallel.
-
-        // A command group will require all of the subsystems that each member
-        // would require.
-        // e.g. if Command1 requires chassis, and Command2 requires arm,
-        // a CommandGroup containing them would require both the chassis and the
-        // arm.
+    		ArrayList<String> script = Robot.autoScripts.getOrDefault(scriptName, new ArrayList<String>());
+    		
+    		outerloop:
+    		for(String cmd : script) {
+    			String[] cmdParts = cmd.split(" ");
+    			String cmdName = cmdParts[0];
+    			String[] cmdArgs = Arrays.copyOfRange(cmdParts, 1, cmdParts.length);
+    			
+    			switch (cmdParts[0]) {
+	    			case "moveto":
+	    				addSequential(new AutoMoveTo(cmdArgs));
+	    				break;
+	    			case "turn":
+	    				addSequential(new AutoTurn(cmdArgs[0]));
+	    				break;
+	    			case "move":
+	    				addSequential(new AutoMove(cmdArgs[0]));
+	    				break;
+	    			case "switch":
+	    				addSequential(new EjectToSwitch());
+	    				break;
+	    			case "scale":
+	    				addSequential(new EjectToScale());
+	    				break;
+	    			case "exchange":
+	    				addSequential(new EjectToExchange());
+	    				break;
+	    			case "wait":
+	    				addSequential(new WaitCommand(Double.parseDouble(cmdArgs[0])));
+	    				break;
+	    			case "intake":
+	    				addSequential(new IntakeCube());
+	    				break;
+	    			case "jump":
+	    				addSequential(new RunScript(cmdArgs[0]));
+	    				break;
+	    			case "end":
+	    				break outerloop;
+	    			default:
+	    				throw new Exception();
+    			}
+    		}
     }
 }