Robot.java

package org.usfirst.frc.team1778.robot;

import Systems.DriveTrain;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.usfirst.frc.team1778.robot.Controller;

/**
 * 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 manifest file in the resource
 * directory.
 */

public class Robot extends IterativeRobot {
	protected Controller Controller;
    final String defaultAuto = "Default";
    final String customAuto = "My Auto";
    String autoSelected;
    SendableChooser chooser;
    Controller controller = new Controller();
	
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	
    	//This is the driver control class.  All buttons an joysticks are here.
    	Controller = new Controller();
    	
    	//The Autonomous mode chooser in smart dashboard
        chooser = new SendableChooser();
        chooser.addDefault("Default Auto", defaultAuto);
        chooser.addObject("My Auto", customAuto);
        SmartDashboard.putData("Auto choices", chooser);
        DriveTrain DriveTrain = new DriveTrain(8,3);
    }
    
	/**
	 * 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
	 *
	 * 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.
	 */
    public void autonomousInit() {
    	autoSelected = (String) chooser.getSelected();
//		autoSelected = SmartDashboard.getString("Auto Selector", defaultAuto);
		System.out.println("Auto selected: " + autoSelected);
    }

    public void autonomousPeriodic() {
    	switch(autoSelected) {
    	case customAuto:
        //Put custom auto code here   
            break;
    	case defaultAuto:
    	default:
    	//Put default auto code here
            break;
    	}
    }

    
    public void teleopInit(){
    	
    }
    
    public void teleopPeriodic() {
    	DriveControl drive = new DriveControl();
       	
    	// drive command for all controllers
    	 drive.calculateDrive(org.usfirst.frc.team1778.robot.Controller.Driver_Throttle(), org.usfirst.frc.team1778.robot.Controller.Driver_Steering(),
    	 		org.usfirst.frc.team1778.robot.Controller.Driver_isQuickTurn(), false);
    }
    
    public void testPeriodic() {
    	
    }
    
}