Java SendableChooser類代碼示例

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {


	chooser = new SendableChooser<Command>();
	chassis = new Chassis();
	intake = new Intake();
	winch = new Winch();
//	shooter = new Shooter();
	
	oi = new OI();
	imu = new ADIS16448_IMU(ADIS16448_IMU.Axis.kX);
	pdp = new PowerDistributionPanel();
	
	chooser.addDefault("Drive Straight", new DriveStraight(73, 0.5));
	//chooser.addObject("Left Gear Curve", new LeftGearCurve());
	chooser.addObject("Left Gear Turn", new LeftGearTurn());
	//chooser.addObject("Right Gear Curve", new RightGearCurve());
	chooser.addObject("Right Gear Turn", new RightGearTurn());
	chooser.addObject("Middle Gear", new StraightGear());
	chooser.addObject("Turn in place", new TurnDegrees(60, .2));
	SmartDashboard.putData("Autonomous Chooser", chooser);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveBase = new DriveBase();
    arm = new Arm();
    winch = new Winch();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    autonomousChooser = new SendableChooser();
    autonomousChooser.addDefault("Drive Forward", new AutonomousCommand());
    autonomousChooser.addObject("Center Peg", new CenterPeg());
    
    SmartDashboard.putData("Autonomous Mode", autonomousChooser);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
public AutonomousFactory(Snobot2017 aSnobot, IDriverJoystick aDriverJoystick)
{
    mPositionChooser = new SendableChooser<StartingPositions>();
    mCommandParser = new CommandParser(aSnobot, mPositionChooser);
    mAutoModeTable = NetworkTable.getTable(SmartDashBoardNames.sAUTON_TABLE_NAME);
    
    mPositioner = aSnobot.getPositioner();

    mAutonModeChooser = new SnobotAutonCrawler(Properties2017.sAUTON_FILE_FILTER.getValue())
            .loadAutonFiles(Properties2017.sAUTON_DIRECTORY.getValue() + "/", Properties2017.sAUTON_DEFAULT_FILE.getValue());

    SmartDashboard.putData(SmartDashBoardNames.sAUTON_CHOOSER, mAutonModeChooser);
    

    for (StartingPositions pos : StartingPositions.values())
    {
        mPositionChooser.addObject(pos.toString(), pos);
    }
    
    SmartDashboard.putData(SmartDashBoardNames.sPOSITION_CHOOSER, mPositionChooser);
    addListeners();    
    }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * 
 * @param aXboxJoystick
 *                      Xbax Joystick
 * @param aFlightstickJoytick
 *                      FlightStick Joystick
 * @param aHaloJoystick
 *                     Halo Joystick
 * @param aLogger
 *              Logger for the Factory
 */
public SnobotDriveJoystickFactory(IDriverJoystick aXboxJoystick,IDriverJoystick aFlightstickJoytick, IDriverJoystick aHaloJoystick, Logger aLogger)
{
    mXboxJoystick = aXboxJoystick;    
    mFlightstickJoytick = aFlightstickJoytick;
    mHaloJoytick = aHaloJoystick;
    mLogger = aLogger;
    
    mDriveMode = DriveMode.Xbox;
    
    mDriveModeSelector = new SendableChooser();
    mDriveModeSelector.addDefault("Xbox", DriveMode.Xbox);
    mDriveModeSelector.addObject("Fligthstick", DriveMode.Flightsticks);
    mDriveModeSelector.addObject("Arcade", DriveMode.Arcade);
    SmartDashboard.putData(SmartDashBoardNames.sDRIVER_JOSTICK_MODE, mDriveModeSelector);
    
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
		
    	harvester = new Harvester();
        drive = new Drive();
        climber = new Climber();
        harvesterRollers = new HarvesterRollers();
        flashlight = new Flashlight();
        SmartDashboard.putData(harvester);
        SmartDashboard.putData(drive);
        SmartDashboard.putData(climber);
        SmartDashboard.putData(harvesterRollers);
        oi = new OI();
//ppim.pm.ip.mip.mi.p.miipmmip.ip.m.pimmmpim.m.ipm..ipmmpimipmipm.mmipipm.pipmi.pmipmmpimipmpi..lmmmplip.mimp.im..p.ppn.p.pp.p.ppp.p
        chooser = new SendableChooser();
        chooser.addDefault("Do nothing", new AutoDoNothing());
        chooser.addObject("Spy Bot", new CG_SpyBot());
        chooser.addObject("Spy Bot and Turn", new CG_SpyBotTurn());
        chooser.addObject("Drive straight 2.5 seconds", new DriveTime(2.5, 1));
        chooser.addObject("Low bar", new CG_LowBarAndShoot());
        chooser.addObject("Shoot", new CG_DefenseAndShoot());
//        chooser.addObject("Middle to Low Bar", new MyAutoCommand());
        SmartDashboard.putData("AutoSelect", chooser);
    }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
public void robotInit() {
	CMap.initialize();

	
   	autoDefenseChooser = new SendableChooser();
   	autoDefenseChooser.addDefault("Low Bar", "Low Bar");
    autoDefenseChooser.addObject("Cheval", "Cheval"); //Only Category B Defense
    autoDefenseChooser.addObject("Log Roll", "Log Roll"); //Other Category B
    autoDefenseChooser.addObject("Ramparts", "Ramparts"); //One of Two Category C
    autoDefenseChooser.addObject("Moat", "Moat"); //One of Two Category C
    autoDefenseChooser.addObject("Rock Wall", "Rock Wall"); // One of Two Category D 
    autoDefenseChooser.addObject("Rough Terrain", "Rough Terrain"); //One of Two Category D
    autoDefenseChooser.addObject("Score from Spy Box?", "Spy Box");
    
    SmartDashboard.putData("Which Defense?", autoDefenseChooser);
	
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
public Test(Robot robot)
{
    super(robot);   // Call TeleOp constructor.

    sm = new TrcStateMachine(moduleName);
    event = new TrcEvent(moduleName);
    timer = new TrcTimer(moduleName);

    testChooser = new SendableChooser();
    testChooser.addDefault("Sensors test", TestMode.SENSORS_TEST);
    testChooser.addObject("Drive motors test", TestMode.DRIVEMOTORS_TEST);
    testChooser.addObject("Drive for 8 sec", TestMode.TIMED_DRIVE);
    testChooser.addObject("Move X 20 ft", TestMode.X_DRIVE);
    testChooser.addObject("Move Y 20 ft", TestMode.Y_DRIVE);
    testChooser.addObject("Turn 360", TestMode.TURN);
    testChooser.addObject("Sonar drive 7 in", TestMode.SONAR_DRIVE);
    HalDashboard.putData("Robot tune modes", testChooser);
 }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
public AutoChooser() {
	chooser = new SendableChooser();
	
	chooser.addDefault("DO_NOTHING", DO_NOTHING);
	chooser.addObject("DRIVE_FORWARD", DRIVE_FORWARD);
	chooser.addObject("DEPOSIT_GEAR_LEFT", DEPOSIT_GEAR_LEFT);
	chooser.addObject("DEPOSIT_GEAR_CENTER", DEPOSIT_GEAR_CENTER);
	chooser.addObject("DEPOSIT_GEAR_RIGHT", DEPOSIT_GEAR_RIGHT);
	chooser.addObject("DRIVE_AND_SHOOT_BLUE_LEFT", DRIVE_AND_SHOOT_BLUE_LEFT);
	chooser.addObject("DRIVE_AND_SHOOT_BLUE_CENTER", DRIVE_AND_SHOOT_BLUE_CENTER);
	chooser.addObject("DRIVE_AND_SHOOT_BLUE_RIGHT", DRIVE_AND_SHOOT_BLUE_RIGHT);
	chooser.addObject("DRIVE_AND_SHOOT_RED_LEFT", DRIVE_AND_SHOOT_RED_LEFT);
	chooser.addObject("DRIVE_AND_SHOOT_RED_CENTER", DRIVE_AND_SHOOT_RED_CENTER);
	chooser.addObject("DRIVE_AND_SHOOT_RED_RIGHT", DRIVE_AND_SHOOT_RED_RIGHT);
	
	SmartDashboard.putData("Auto_Mode_Chooser", chooser);
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	cc = new CameraController(50);
    	dt = Drivetrain.getInstance();
    	sh = Shooter.getInstance();
    	tr = Turret.getInstance();
    	lt = LeftTomahawk.getInstance();
    	rt = RightTomahawk.getInstance();
    	pn = Pneumatics.getInstance();
    	//lt = Lifter.getInstance();
    	//bb = Beaglebone.getInstance();
    	//comp = new Compressor();
    	//comp.start();
    	//comp.setClosedLoopControl(true);
		oi = new OI();
		mode = SmartDashboard.getBoolean("Two Drivers?", false);
		
        chooser = new SendableChooser();
        chooser.addDefault("Default Auto", new Drive());
//        chooser.addObject("My Auto", new MyAutoCommand());
        SmartDashboard.putData("Auto mode", chooser);
    }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * Constructor: Creates an instance of the object.
 *
 * @param menuTitle specifies the title of the menu.
 */
public FrcChoiceMenu(final String menuTitle)
{
    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(moduleName + "." + menuTitle, tracingEnabled, traceLevel, msgLevel);
    }

    if (menuTitle == null)
    {
        throw new NullPointerException("menuTitle cannot be null.");
    }

    this.menuTitle = menuTitle;
    chooser = new SendableChooser<>();
    hashMap = new HashMap<>();
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
*Contains a variety of debugging functions. 
*Mostly affects the SmartDashboard.
*/
  public DebugHardware() {
  	motorSelector = new SendableChooser();
  	motorSelector.addDefault("None", 0);
  	motorSelector.addObject("Left Front", 1);
  	motorSelector.addObject("Right Front", 2);
  	motorSelector.addObject("Right Rear", 3);
  	motorSelector.addObject("Left Rear", 4);
  	motorSelector.addObject("Winch", 5);
  	motorSelector.addObject("Left Roller", 6);
  	motorSelector.addObject("Right Roller", 7);
  	SmartDashboard.putData("Debug Motor", motorSelector);
  	
  	Preferences.getInstance().putDouble("setWinch",RobotMap.forkliftMotor.getPosition());
  	
  	Preferences.getInstance().putDouble("WheelSpeed", speed);
  	RobotMap.forkliftMotor.enableControl();
  }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
    * This function is run when the robot is first started up and should be
    * used for any initialization code.
    */
   public void robotInit() {
       
RobotMap.init();
       autoChooser = new SendableChooser();
       autoChooser.addDefault("Simple Autonomous", new SimpleAutonomous());
       //autoChooser.addObject("name", );
       //autoChooser.addObject("name", );
       SmartDashboard.putData("Autonomous Chooser", autoChooser);
       shooterFan = new ShooterFan();
       eightBallGrabber = new EightBallGrabber();
       prefs = Preferences.getInstance();

       // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
   // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
       // This MUST be here. If the OI creates Commands (which it very likely
       // will), constructing it during the construction of CommandBase (from
       // which commands extend), subsystems are not guaranteed to be
       // yet. Thus, their requires() statements may grab null pointers. Bad
       // news. Don't move it.
       oi = new OI();
       
   // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
       
       // Setup compass to stream data
   }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
    System.out.println("Robot Init Started");
    
    // Initialize all subsystems
    CommandBase.init();
    
    // instantiate the command used for the autonomous period        
    autonomousModeChooser = new SendableChooser();
    autonomousModeChooser.addDefault("1 Ball Front Short", new Shoot1BallShortAutonomous());
    autonomousModeChooser.addObject("1 Ball Front Short Hot", new Shoot1BallShortAutonomousHot());
    autonomousModeChooser.addObject("1 Ball Front Long", new Shoot1BallAutonomous());
    autonomousModeChooser.addObject("1 Ball Front Long Hot", new Shoot1BallAutonomousHot());
    autonomousModeChooser.addObject("1 Ball Back Long", new Shoot1BallBackAutonomous());
    autonomousModeChooser.addObject("1 Ball Back Long Hot", new Shoot1BallBackAutonomousHot());
    autonomousModeChooser.addObject("2 Ball Front", new Shoot2BallAutonomous());
    autonomousModeChooser.addObject("2 Ball Back", new Shoot2BallBackAutonomous());
    autonomousModeChooser.addObject("Move Forward 150", new Shoot0BallAutonomous(0, 150));
    SmartDashboard.putData("Autonomous Mode", autonomousModeChooser);

    updateStatus();
    System.out.println("Robot Init Completed");
}
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
        // instantiate the command used for the autonomous period
//        autonomousCommand = new DriveSetDistanceCommand();
        SmartDashboard.putNumber("waitTime", 1000);
        // Initialize all subsystems
        CommandBase.init();
        autonomousModeChooser = new SendableChooser();
        autonomousModeChooser.addObject("Do Nothing Autonomous", DO_NOTHING_AUTO_NAME);
        autonomousModeChooser.addObject("Wait and Drive Autonomous", WAIT_AND_DRIVE_AUTO_NAME);
        autonomousModeChooser.addDefault("One Ball Short Drive Autonomous", ONE_BALL_SHORT_DRIVE_AUTO_NAME);
        //       autonomousModeChooser.addDefault("One Ball Driving Shot Autonomous", ONE_BALL_RUNNING_SHOT_AUTO_NAME);
        autonomousModeChooser.addDefault("Two Ball Short Drive Autonomous", TWO_BALL_SHORT_DRIVE_AUTO_NAME);
//        autonomousModeChooser.addObject("Two Ball Running Autonomous", TWO_BALL_RUNNING_SHOT_AUTO_NAME);
        SmartDashboard.putData("Autonomous", autonomousModeChooser);
        SmartDashboard.putData(new HotVisionWaitCommand());
    }
 

import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; //導入依賴的package包/類
/**
 * Creates Autonomous mode chooser.
 */
private void autoSelectInit() {
	//NOTE: ONLY ADD AutoCommandGroup objects to this chooser!
	autoChooser = new SendableChooser();
	autoChooser.addDefault(ShootStraight_2Ball_DrvFwd.name, new ShootStraight_2Ball_DrvFwd());
	autoChooser.addObject(Center_RotHotGoal_2Ball.name, new Center_RotHotGoal_2Ball());
	autoChooser.addObject(Center_RotHotGoal_1Ball.name, new Center_RotHotGoal_1Ball());
	autoChooser.addObject(Left_LeftHotGoal_1Ball.name, new Left_LeftHotGoal_1Ball());
	autoChooser.addObject(Right_RightHotGoal_1Ball.name, new Right_RightHotGoal_1Ball());
	autoChooser.addObject(Left_2ball_left2right.name, new Left_2ball_left2right());
	autoChooser.addObject(NoBall_DrvFwd.name, new NoBall_DrvFwd());
	autoChooser.addObject(No_Auto.name, new No_Auto());
	//autoChooser.addObject("Center_RotDrvFwdHotGoal_1Ball", new Center_RotDrvFwdHotGoal_1Ball(RobotMap.VisionTimeOutSecs.getDouble()));
	//autoChooser.addObject("ShootStraight_2BallDrvFwd", new ShootStraight_2Ball_DrvFwd());
	SmartDashboard.putData("Autonomous Mode Chooser", autoChooser);
}