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authorLuke Shumaker <lukeshu@lukeshu.com>2017-03-12 12:40:13 -0400
committerLuke Shumaker <lukeshu@lukeshu.com>2017-03-12 12:40:13 -0400
commit8492bb861d13b012cba695e1de0549c40a45a294 (patch)
treeeaec354b77d709234687d62efd9740213fee0130 /src/org/usfirst
parent42ae8a7af341fab193e386438d23724fde95f03b (diff)
forget enums, we have lambdas!
Diffstat (limited to 'src/org/usfirst')
-rw-r--r--src/org/usfirst/frc/team4272/robot2017/Autonomous.java66
1 files changed, 24 insertions, 42 deletions
diff --git a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
index 3f6b7b4..ea8319e 100644
--- a/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
+++ b/src/org/usfirst/frc/team4272/robot2017/Autonomous.java
@@ -159,69 +159,51 @@ public class Autonomous {
return turnRadians(robot, speed, deg * Math.PI/180);
}
- private final HwRobot robot;
- private final Command[] commands;
- private int step = 0;
-
- public static enum Mode {
- CENTER_PEG, LEFT_PEG, RIGHT_PEG, NONE
+ private static final Command init = c->{
+ c.lDrive = c.rDrive = 0;
+ c.highGear = c.gedOut = false;
+ return true;
+ };
+
+ private static interface Mode {
+ public Command[] getCommands(HwRobot robot);
}
private static final SendableChooser<Mode> modeChooser = new SendableChooser<Mode>();
public static void robotInit() {
- modeChooser.addObject("Center Peg", Mode.CENTER_PEG);
- modeChooser.addObject("Left Peg", Mode.LEFT_PEG);
- modeChooser.addObject("Right Peg", Mode.RIGHT_PEG);
- modeChooser.addObject("Stand Still", Mode.NONE);
- SmartDashboard.putData("Autonomous Mode", modeChooser);
- }
-
- public Autonomous(HwRobot robot) {
- this.robot = robot;
-
- Mode mode = modeChooser.getSelected();
-
- Command init = c->{
- c.lDrive = c.rDrive = 0;
- c.highGear = c.gedOut = false;
- return true;
- };
-
- switch (mode) {
- case CENTER_PEG:
- commands = new Command[]{
+ modeChooser.addObject("Center Peg", robot->new Command[]{
init,
new TimedCommand(driveDistance(robot, 0.4, 8.75), 6),
c->{c.lDrive = c.rDrive = 0; return true;},
c->{c.gedOut = true; return true;},
driveDistance(robot, 0.4, -3),
c->{c.lDrive = c.rDrive = 0; return true;},
- };
- break;
- case LEFT_PEG:
- commands = new Command[]{
+ });
+ modeChooser.addObject("Left Peg", robot->new Command[]{
init,
driveDistance(robot, 0.4, 3.5),
turnDegrees(robot, 0.4, 60),
driveDistance(robot, 0.4, 8.3),
c->{c.lDrive = c.rDrive = 0; return true;},
- };
- break;
- case RIGHT_PEG:
- commands = new Command[]{
+ });
+ modeChooser.addObject("Right Peg", robot->new Command[]{
init,
driveDistance(robot, 0.4, 3.5),
turnDegrees(robot, 0.4, -60),
driveDistance(robot, 0.4, 8.3),
c->{c.lDrive = c.rDrive = 0; return true;},
- };
- break;
- case NONE:
- default:
- commands = new Command[]{
+ });
+ modeChooser.addObject("Stand Still", robot->new Command[]{
c->{c.lDrive = c.rDrive = 0; return true;},
- };
- }
+ });
+ SmartDashboard.putData("Autonomous Mode", modeChooser);
+ }
+
+ private final Command[] commands;
+ private int step = 0;
+
+ public Autonomous(HwRobot robot) {
+ commands = modeChooser.getSelected().getCommands(robot);
}
public Control run(Control c) {