C++ SendableChooser::AddDefault方法代码示例

		Robot2009Kinect (void):
			joystickManipulator(MANIPULATOR_JOYSTICK_USB_PORT),
			joystickDriveLeft(LEFT_DRIVE_JOYSTICK_USB_PORT),
			joystickDriveRight(RIGHT_DRIVE_JOYSTICK_USB_PORT),
			kinectDrive(DRIVE_KINECT_IDENT),
			kinectManipulator(MANIPULATOR_KINECT_IDENT),
			motorDriveLeft(LEFT_DRIVE_MOTOR_PORT),
			motorDriveRight(RIGHT_DRIVE_MOTOR_PORT),
			motorShooter(SHOOTER_MOTOR_PORT),
			motorTurret(TURRET_MOTOR_PORT),
			motorPickup(PICKUP_MOTOR_PORT),
			motorFeed(FEED_MOTOR_PORT)
		{
			GetWatchdog().SetEnabled(false); // If you're just beginning, and nothing's going on, there's no need for Watchdog to be doing anything.
			
			kinectMode = false;
			
			kinectModeSelector = new SendableChooser();
			kinectModeSelector->AddDefault("Kinect Mode - OFF", (void*) false);
			kinectModeSelector->AddObject("Kinect Mode - ON", (void*) true);
			
			demoMode = false;
			
			demoModeSelector = new SendableChooser();
			demoModeSelector->AddDefault("Demo Mode - OFF", (void*) false);
			demoModeSelector->AddObject("Demo Mode - ON", (void*) true);
			
			const100 = 1;
			const90 = 0.9;
			const80 = 0.8;
			const70 = 0.7;
			const60 = 0.6;
			const50 = 0.5;
			const40 = 0.4;
			const30 = 0.3;
			const20 = 0.2;
			const10 = 0.1;
			const0 = 0;
			
			speedModeMult = &const100;
			
			speedModeSelector = new SendableChooser();
			speedModeSelector->AddDefault("Speed - 100%", &const100);
			speedModeSelector->AddObject("Speed - 90%", &const90);
			speedModeSelector->AddObject("Speed - 80%", &const80);
			speedModeSelector->AddObject("Speed - 70%", &const70);
			speedModeSelector->AddObject("Speed - 60%", &const60);
			speedModeSelector->AddObject("Speed - 50%", &const50);
			speedModeSelector->AddObject("Speed - 40%", &const40);
			speedModeSelector->AddObject("Speed - 30%", &const30);
			speedModeSelector->AddObject("Speed - 20%", &const20);
			speedModeSelector->AddObject("Speed - 10%", &const10);
			speedModeSelector->AddObject("Speed - 0%", &const0);
		}

	void RobotInit() override {
		chooser = new SendableChooser();
		chooser->AddDefault("Low Bar Low Goal", new Option(1));
		chooser->AddObject("Low Bar High Goal", new Option(2));
		SmartDashboard::PutData("Auto", chooser);

		CameraServer::GetInstance()->SetQuality(30);
		CameraServer::GetInstance()->StartAutomaticCapture("cam0");

		lstick = new Joystick(0);
		rstick = new Joystick(1);
		controller = new Joystick(2);

		myRobot = new SigmaDrive();
		myRobot->setExpiration(0.1);

		mySword = new ShooterIntake();

		Robot *bot = this;
		Modes = new AutonomousModes(myRobot, mySword);

		Drive = new Task("Drive", driveWrapper, bot);
		Shooter_Intake= new Task("ShooterIntake", shootWrapper, bot);

		myRobot->ResetDisplacement();
		myRobot->gyro->Calibrate();
	}

	void RobotInit()
	{
		camImage = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
		binImage = imaqCreateImage(IMAQ_IMAGE_U8, 0);
		imMask = new ImageMask(camImage, binImage, imaqError = 0);

		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		imaqError = IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
		if(imaqError != IMAQdxErrorSuccess){
			DriverStation::ReportError("IMAQdxOpencamera error: " + std::to_string((long)imaqError));
		}
		imaqError = IMAQdxConfigureGrab(session);
		if(imaqError != IMAQdxErrorSuccess){
			DriverStation::ReportError("IMAQdxConfigureGram error: " + std::to_string((long)imaqError));
		}
		/*
		CameraServer::GetInstance()->SetQuality(50);
		//the camera name (ex "cam0") can be found through the roborio web interface
		CameraServer::GetInstance()->StartAutomaticCapture("cam1");
		*/
		//camImage = imaqCreateImage(IMAQ_IMAGE_RGB, 0);

		//tal = new CANTalon(1);
		//banner = new DigitalInput(4);
		//banner2 = new DigitalInput(5);
		//tal->SetFeedbackDevice(CANTalon::CtreMagEncoder_Absolute);
		//x = 0;
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
	}

	void RobotInit()
	{
		CommandBase::init();
		chooser = new SendableChooser();
		chooser->AddDefault("Default Auto", new AutoParameterizedDriveCmd());
		//chooser->AddObject("My Auto", new MyAutoCommand());
		SmartDashboard::PutData("Auto Modes", chooser);
	}

	Robot() :
			robotDrive(new Talon(frontLeftChannel), new Talon(rearLeftChannel),
					new Talon(frontRightChannel), new Talon(rearRightChannel)), stick(
					STICK_CHANNEL), liftStick(LIFTSTICK_CHANNEL), chainLift(
					CHAINLIFT_PWM), maxUp(MAXUP_DIO), maxDown(MAXDOWN_DIO), midPoint(
					MIDPOINT_DIO), autoSwitch1(AUTOSWITCH1_DIO), autoSwitch2(
					AUTOSWITCH2_DIO), leftIR(LEFTIR_LOC), rightIR(RIGHTIR_LOC), canGrabber(
					CANGRAB_PWM) {
		SmartDashboard::init();
		ds = DriverStation::GetInstance();
		SmartDashboard::PutString("STATUS:", "INITIALIZING");
		robotDrive.SetExpiration(0.1);
		robotDrive.SetInvertedMotor(RobotDrive::kFrontLeftMotor, true);
		robotDrive.SetInvertedMotor(RobotDrive::kRearLeftMotor, true);
		autoMode = new SendableChooser();
		autoMode->AddDefault("00: Do Nothing", new AutonomousIndex(0));
		autoMode->AddObject("01: Just Drive Forward", new AutonomousIndex(1));
		autoMode->AddObject("02: Stack bin on tote, turn 90, go",
				new AutonomousIndex(2));
		autoMode->AddObject("03: Lift up and go forward",
				new AutonomousIndex(3));
		autoMode->AddObject("04: Lift up, turn 90, go", new AutonomousIndex(4));
		autoMode->AddObject("05: Stack 3 bins w/ correction constant",
				new AutonomousIndex(5));
		autoMode->AddObject("06: Stack 3 bins w/ acclerometer",
				new AutonomousIndex(6));
		autoMode->AddObject("07: Grab first bin from landfill",
				new AutonomousIndex(7));
		autoMode->AddObject("08: Grab yellow bin and back up TO RAMP",
				new AutonomousIndex(8));
		autoMode->AddObject("09: Grab two bins from landfill, slide sideways",
				new AutonomousIndex(9));
		autoMode->AddObject("10: Grab from landfill, over by turning",
				new AutonomousIndex(10));
		autoMode->AddObject("11: Grab yellow bin, back up to AUTOZONE, drop",
				new AutonomousIndex(11));
		autoMode->AddObject("12: Grab yellow bin, back up to AUTOZONE, stop",
				new AutonomousIndex(12));
		autoMode->AddObject("13: Steal two green cans. Gottta go fast",
				new AutonomousIndex(13));
		autoMode->AddObject("99: CUPID SHUFFLE", new AutonomousIndex(99));
		SmartDashboard::PutString("Both Off", "Pick from radio list");
		SmartDashboard::PutString("On-Off", "Grab yellow and back up");
		SmartDashboard::PutString("Off-On",
				"Grab, turn right, drive, turn left");
		SmartDashboard::PutString("Both On",
				"Lift up, turn 90, drive to auto zone");
		SmartDashboard::PutData("BOTH SWITCHES ON: Pick One:", autoMode);
		SmartDashboard::PutData(Scheduler::GetInstance());
		SmartDashboard::PutString("STATUS:", "READY");

		SmartDashboard::PutBoolean("Smart Dashboard Enabled", false);

		tick = 0;

		leftIRZero = 0;
		rightIRZero = 0;
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		triggerPin = new DigitalOutput(8);
		echoPin = new DigitalInput(9);
	}

 CommandBasedRobot() {
     compressor = new Compressor(PRESSURE_SWITCH_PORT, COMPRESSOR_RELAY_PORT);
     compressor->Start();
     
     driveStyle = new SendableChooser();
     driveStyle->AddDefault("Arcade", new ArcadeDrive());
     driveStyle->AddObject("Tank", new TankDrive());
     
     CommandBase::init();
 }

	void RobotInit()
	{
		joystick = new Joystick(0);
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		holder=new Holder(HOLDER_GATE,HOLDER_PUSHER,REVGATELIMIT,FWDGATELIMIT,IRSENSOR);
		state = WAIT_FOR_BUTTON;
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		imu = new ADIS16448_IMU;
		imu->Reset();
		imu->Calibrate();

	}

	virtual void RobotInit() {
		CommandBase::init();
		
		DriverStationLCD *dsLCD = DriverStationLCD::GetInstance();
		dsLCD->Clear();
		dsLCD->UpdateLCD();
		
		//Wait(0.1);

		//_autonomousCommand = new AutonomousCommand();
		_autonomousCommand = NULL;
		_teleopCommand = NULL;
		
		_moveToAndDropBridgeCmd = new MoveToAndDropBridgeCmd();
		_noOpCmd = new NoOpCmd();
		_driveInSquareCmd = new DriveInSquareCmd();
		_kinectDriveCmd = new KinectDriveCmd(CommandBase::oi->kinectLeft, CommandBase::oi->kinectRight, CommandBase::oi->kinectBridgeBtn);
		_testRobotCmd = new TestRobotCmd(CommandBase::oi->driveTrigger);
		_autoFireCmd = new AutonomousFireCmd();

		//_driveWithJoysticksCmd = new DriveWithJoysticksCmd();
		
		
		_autoChooser = new SendableChooser();
		//		_autoChooser->AddDefault("Autonomous Fire", _autoFireCmd);
		_autoChooser->AddDefault("Move To And Drop Bridge", _moveToAndDropBridgeCmd);
//		_autoChooser->AddObject("Move To And Drop Bridge", _moveToAndDropBridgeCmd);
		_autoChooser->AddObject("Autonomous Fire", _autoFireCmd);
		_autoChooser->AddObject("Drive with Kinect", _kinectDriveCmd);
		_autoChooser->AddObject("Drive In Square", _driveInSquareCmd);
		SmartDashboard::GetInstance()->PutData("AutoMenu", _autoChooser);
		
		_teleopChooser = new SendableChooser();
		_teleopChooser->AddDefault("Drive With Joysticks", _noOpCmd);
		_teleopChooser->AddObject("Test Robot", _testRobotCmd);
		SmartDashboard::GetInstance()->PutData("TeleopMenu", _teleopChooser);
//		SmartDashboard::GetInstance()->PutData("SchedulerData", Scheduler::GetInstance());
//		SmartDashboard::GetInstance()->PutData("DriveTrainSubsystem", CommandBase::driveTrainSubsystem);
//		SmartDashboard::GetInstance()->PutData("AzimuthSubsystem", CommandBase::azimuthSubsystem);
	}

	void RobotInit()
	{
		frontLeft = new Talon( frontLeftChannel );
		backLeft = new Talon( backLeftChannel );
		frontRight = new Talon( frontRightChannel );
		backRight = new Talon( backRightChannel );

		MasterInterLink = new InterLinkElite( Master_InterLink_ID );
		SlaveInterLink = new InterLinkElite( Slave_InterLink_ID );
		ds = DriverStation::GetInstance();
		lw = LiveWindow::GetInstance();

		BuddyBoxEnableChooser = new SendableChooser();
		BuddyBoxEnableChooser->AddDefault( "Buddy Box Disabled", (void*) false );
		BuddyBoxEnableChooser->AddObject( "Buddy Box Enabled", (void*) true );
		SmartDashboard::PutData( "BuddyBoxEnableChooser", BuddyBoxEnableChooser );

		SlaveSpeedControlChooser = new SendableChooser();
		SlaveSpeedControlChooser->AddDefault( "Trainer Controls Speed", (void*) false );
		SlaveSpeedControlChooser->AddObject( "Slave Controls Speed", (void*) true );
		SmartDashboard::PutData( "SlaveSpeedControlChooser", SlaveSpeedControlChooser );
	}

	/*Initializes objects necessary for teleop
	 * Adds options to sendable chooser on SmartDashboard
	 */
	void RobotInit(){
		/*if (fork()==0){
			system("/home/lvuser/start_vision &");
		}*/

		//creates DriveTrain and sendable choosers
		Drive= new DriveTrain();
		chooser = new SendableChooser();
		chooser2 = new SendableChooser();


		//adds options to both
		chooser->AddDefault(DoNothing, (void*)&DoNothing);
		chooser->AddObject(autoNameLeft, (void*)&autoNameLeft);
		chooser->AddObject(autoNameRight, (void*)&autoNameRight);
		chooser->AddObject(autoNameOver, (void*)&autoNameOver);
		chooser->AddObject(autoNameP1, (void*)&autoNameP1);
		chooser->AddObject(autoNameP2, (void*)&autoNameP2);
		chooser->AddObject(autoNameP3, (void*)&autoNameP3);
		chooser->AddObject(autoNameP4, (void*)&autoNameP4);
		chooser->AddObject(autoNameP5, (void*)&autoNameP5);
		chooser->AddObject(autoNameRW, (void*)&autoNameRW);
		SmartDashboard::PutData("Auto Modes", chooser);


		chooser2->AddDefault(autoNameTest1, (void*)&autoNameTest1);
		chooser2->AddObject(autoNameTest2, (void*)&autoNameTest2);
		chooser2->AddObject(autoNameTest3, (void*)&autoNameTest3);
		chooser2->AddObject(autoNameTest4, (void*)&autoNameTest4);
		SmartDashboard::PutData("Auto Modes 2", chooser2);
		Drive->AutonomousInit();
		autonomous = new Autonomous(Drive, *((std::string*)chooser->GetSelected()));

		//passes driveTrain and sendable chooser option to Autonomous class and creates it!

	}

	void RobotInit()
	{	//pusher = 2, gate = 4
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		lidar = new Lidar(I2C::kMXP, 0x62);
		leftWheel = new SRXSpeed(3, P_CONSTANT, 0.0, 0.0, 1);
		rightWheel = new SRXSpeed(1, P_CONSTANT, 0.0, 0.0, 1);
		leftWheel->SetInverted(true);
		stick = new Joystick(0);
		angle = new AngleAccelerometer(I2C::kOnboard);
		angleMotor = new CANTalon(5);
		anglePID = new PIDController(.05, 0, 0, angle, angleMotor);
		launch = new Launcher(leftWheel, rightWheel, anglePID);
	}

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);

		//Initialize the I2C connectin on address 84
		spi = new SPI(SPI::Port::kOnboardCS0); //you can change the port; kOnboardCS0-3
		spi->Init();
		spi->SetClockRate(500000);
		spi->SetMSBFirst();
		spi->SetSampleDataOnFalling();
		spi->SetClockActiveLow();
		spi->SetChipSelectActiveLow();
	}