Merge pull request #4 from kevinzwang/master

Add autonomous interfaces to implement

Author: sgayda2

Robot2018/src/org/usfirst/frc/team199/Robot2018/DashboardInterface.java

@@ -0,0 +1,68 @@
+package org.usfirst.frc.team199.Robot2018;
+
+import edu.wpi.first.wpilibj.Sendable;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Directly copied from Robot2017 - @kevinzwang
+ */
+
+public interface DashboardInterface {
+
+	/**
+	 * Puts all desired data on SmartDashboard
+	 */
+	public default void displayData() {
+
+	}
+
+	/*
+	 * Methods for displaying values with modified keys
+	 */
+	default void putNumber(String key, double value) {
+		SmartDashboard.putNumber(getKey(key), value);
+	}
+
+	default void putBoolean(String key, boolean value) {
+		SmartDashboard.putBoolean(getKey(key), value);
+	}
+
+	default void putString(String key, String value) {
+		SmartDashboard.putString(getKey(key), value);
+	}
+
+	default void putSendable(String key, Sendable value) {
+		SmartDashboard.putData(getKey(key), value);
+	}
+
+	/*
+	 * Methods for reading numbers, without specifying the modified key
+	 */
+	default double getNumber(String key, double defaultValue) {
+		return SmartDashboard.getNumber(getKey(key), defaultValue);
+	}
+
+	default boolean getBoolean(String key, boolean defaultValue) {
+		return SmartDashboard.getBoolean(getKey(key), defaultValue);
+	}
+
+	default String getString(String key, String defaultValue) {
+		return SmartDashboard.getString(getKey(key), defaultValue);
+	}
+
+	default double[] getNumArray(String key, double[] defaultValue) {
+		return SmartDashboard.getNumberArray(getKey(key), defaultValue);
+	}
+
+	/**
+	 * Converts the specified display key into one with its subsystem name appended
+	 * as a prefix, to be compatible with the Subsystem widget on SmartDashboard for
+	 * organizational purposes
+	 * 
+	 * @param key The name of the original key
+	 * @return A modified key with prefix subsystem name
+	 */
+	default String getKey(String key) {
+		return getClass().getSimpleName() + "/" + key;
+	}
+}

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

@@ -0,0 +1,67 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Initially run during Auto. Responsible for getting input from SmartDashboard
+ * and the FMS, and then calling RunAuto with the specified script.  
+ */
+public class Autonomous extends CommandGroup implements AutonomousInterface {
+
+    public Autonomous() {
+    		// 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.
+    }
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public Position getStartingPos() {
+		// TODO 
+		return null;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public Strategy[] getStrategies() {
+		// TODO 
+		return null;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public double getDelay() {
+		// TODO 
+		return 0;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public String pickScript() {
+		// TODO 
+		return null;
+	}
+}

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

@@ -0,0 +1,60 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.DashboardInterface;
+
+import edu.wpi.first.wpilibj.DriverStation;
+
+public interface AutonomousInterface extends DashboardInterface{
+	public enum Position {
+		LEFT,
+		CENTER,
+		RIGHT
+	}
+	
+	public enum Strategy {
+		AUTO_LINE,
+		SWITCH,
+		SCALE,
+		EXCHANGE,
+		SWITCH_SCALE,
+		SWITCH_EXCHANGE,
+		NOTHING
+	}
+	
+	/**
+	 * Gets the starting position set in SmartDashboard 
+	 * 
+	 * @return an enum for the starting position 
+	 */
+	public Position getStartingPos();
+	
+	/**
+	 * Gets the four strategies set in SmartDashboard
+	 * 
+	 * @return 4 strategies, in the order of (Switch + Scale ): LL, LR, RR, RL
+	 */
+	public Strategy[] getStrategies();
+	
+	/**
+	 * Gets delay before running the specified script set in SmartDashboard
+	 * 
+	 * @return delay in seconds
+	 */
+	public double getDelay();
+	
+	/**
+	 * Directly gets the string from FMS
+	 * 
+	 * @return FMS data
+	 */
+	default String getFMS() {
+		return DriverStation.getInstance().getGameSpecificMessage();
+	}
+	
+	/**
+	 * Pick the script to run for Autonomous
+	 * 
+	 * @return A String representing the name of the script
+	 */
+	public String pickScript();
+}

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

@@ -0,0 +1,30 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * 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.
+    }
+}

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

@@ -0,0 +1,4 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+public interface RunScriptInterface {
+}

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

@@ -0,0 +1,40 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import edu.wpi.first.wpilibj.command.CommandGroup;
+
+/**
+ * Used for testing the autonomous interfaces. Runs the script specified in
+ * SmartDashboard
+ */
+public class TestAuto extends CommandGroup implements TestAutoInterface {
+
+    public TestAuto() {
+    		// 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.
+    }
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public String getScriptToTest() {
+		// TODO 
+		return null;
+	}
+}

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

@@ -0,0 +1,12 @@
+package org.usfirst.frc.team199.Robot2018.commands;
+
+import org.usfirst.frc.team199.Robot2018.DashboardInterface;
+
+public interface TestAutoInterface extends DashboardInterface {
+	/**
+	 * gets the script name that we want to run from SmartDashboard
+	 * 
+	 * @return the script name
+	 */
+	public String getScriptToTest();
+}