Notes

package org.usfirst.frc.team5678.robot;

import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.opencv.core.Rect;
import org.opencv.imgproc.Imgproc;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;


public class Robot extends SampleRobot {
public void testPeriodic() {
LiveWindow.run();
}
RobotDrive myRobot = new RobotDrive(0, 1);
Joystick stick = new Joystick(0);
final String defaultAuto = "Default";
final String customAuto = "My Auto";
SendableChooser<String> chooser = new SendableChooser<>();

public Robot() {
myRobot.setExpiration(0.1);
}

@Override
public void robotInit() {
Spark tbd = new Spark(3);
chooser.addDefault("Default Auto", defaultAuto);
chooser.addObject("My Auto", customAuto);
SmartDashboard.putData("Auto modes", chooser);
}


@Override
public void autonomous() {
String autoSelected = chooser.getSelected();
// String autoSelected = SmartDashboard.getString("Auto Selector",
// defaultAuto);
System.out.println("Auto selected: " + autoSelected);

switch (autoSelected) {
case customAuto:
myRobot.setSafetyEnabled(false);
myRobot.drive(-0.5, 1.0); // spin at half speed
Timer.delay(2.0); // for 2 seconds
myRobot.drive(0.0, 0.0); // stop robot
break;
case defaultAuto:
default:
myRobot.setSafetyEnabled(false);
myRobot.drive(-0.5, 0.0); // drive forwards half speed
Timer.delay(2.0); // for 2 seconds
myRobot.drive(0.0, 0.0); // stop robot
break;
}
}

/**
* Runs the motors with arcade steering.
*/
@Override
public void operatorControl() {
myRobot.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
myRobot.arcadeDrive(stick); // drive with arcade style (use right// stick)
if(stick.getRawButton(2)==true) {
tbd.set(1);
}
Timer.delay(0.005); // wait for a motor update time
}
}

/**
* Runs during test mode
*/
@Override
public void test() {
}
}