Controller example code

/*----------------------------------------------------------------------------*/

/* 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() {

  }

}