package org.robockets.stronghold.robot.highgoalshooter;

import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 */
public class UpdateHighGoalShooterDashboard extends Command {

	NetworkTable table;
	
    public UpdateHighGoalShooterDashboard() {
    }

    protected void initialize() {
    	/*SmartDashboard.putData("Horizontal Align", new HorizontalAlign(true));
    	SmartDashboard.putData("Vertical Align", new VerticalAlign(true));
    	*///SmartDashboard.putData("Spin Turn Table Left", new MoveTurnTable(-30, 0));
    	//SmartDashboard.putData("Spin Turn Table Right", new MoveTurnTable(30, 0));
    	/*SmartDashboard.putData("Free fire", new FreeFire());
    	SmartDashboard.putData("Zero hood", new MoveHood(0));
    	SmartDashboard.putData("Reset Intake Back", new ResetPID(RobotMap.intakeEncoderBack, Robot.intakeBack.encoderPID));
    	SmartDashboard.putData("Reset Turntable", new ResetPID(RobotMap.turnTableEncoder, Robot.shooter.turnTablePidController));
    	SmartDashboard.putData("Reset Hood", new ResetPID(RobotMap.hoodEncoder, Robot.shooter.hoodPidController));
    	SmartDashboard.putData("Shovel some fries", new ChevalDeFrise(IntakeSide.FRONT));
    	SmartDashboard.putData("Set Encoders Angle 90", new TurnRelative(90));
    	SmartDashboard.putData("Set Encoders Angle 0", new TurnRelative(0));
    	SmartDashboard.putData("Intake 'Boulder'", new IntakeBall(IntakeSide.FRONT));
    	SmartDashboard.putData("Give Ball To Shooter", new GiveBallToShooter(IntakeSide.FRONT));
    	SmartDashboard.putData("Limbo", new Limbo());
    	SmartDashboard.putData("Drive Position", new DrivePosition());
    	SmartDashboard.putData("Fire Shooter", new FireShooter());
    	SmartDashboard.putData("Move Hood 0", new MoveHood(0));
    	SmartDashboard.putData("Stop Wheels", new MoveShootingWheel(0));*/
    	//SmartDashboard.putData("Track Button", new Track());
    	//SmartDashboard.putData("Flip flipper", new FireShooter());
    	SmartDashboard.putData("Move Servo", new FireShooter());
    	SmartDashboard.putNumber("pid error", 0);
    }

    protected void execute() {
    	/*SmartDashboard.putNumber("Encoders Setpoint", Robot.driveTrain.encodersPID.getSetpoint());
    	SmartDashboard.putNumber("Encoders Offset", Robot.driveTrain.getEncodersOffset());
    	SmartDashboard.putBoolean("Front Breakbeam", RobotMap.frontBB.get());
    	SmartDashboard.putNumber("Turn table angle", new EncoderPIDSource(RobotMap.turnTableEncoder, 0.16096579, PIDSourceType.kDisplacement).pidGet());
    	SmartDashboard.putNumber("Turn table encoder", RobotMap.turnTableEncoder.get());
    	SmartDashboard.putNumber("Hood angle", Robot.shooter.getHoodAngle());
    	SmartDashboard.putNumber("Spin RPM", Robot.shooter.getShootingWheelSpeed());
    	SmartDashboard.putNumber("Encoders Offset", Robot.driveTrain.getEncodersOffset());
    	SmartDashboard.putNumber("Drive encoder 1", RobotMap.driveEncoder.get());
    	SmartDashboard.putNumber("Drive encoder 2", RobotMap.driveEncoder2.get());
    	SmartDashboard.putNumber("Front Intake angle", RobotMap.intakeEncoderFront.get() / Robot.intakeFront.COUNTS_PER_DEGREE);
    	SmartDashboard.putNumber("Yaw", RobotMap.navX.getYaw());
    	
    	table = NetworkTable.getTable("vision");
    	
    	SmartDashboard.putNumber("Lock", table.getNumber("can_see_target", 0));*/
    	
    }

    protected boolean isFinished() {
        return false;
    }

    protected void end() {
    }

    protected void interrupted() {
    }
}

@@ -50,16 +50,110 @@
 ooter;%0A%0A
+import org.robockets.stronghold.robot.Robot;%0Aimport org.robockets.stronghold.robot.RobotMap;%0A%0A
 import e
@@ -190,16 +190,16 @@
 ommand;%0A
-
 import e
@@ -496,1659 +496,8 @@
 ) %7B%0A
-    %09/*SmartDashboard.putData(%22Horizontal Align%22, new HorizontalAlign(true));%0A    %09SmartDashboard.putData(%22Vertical Align%22, new VerticalAlign(true));%0A    %09*///SmartDashboard.putData(%22Spin Turn Table Left%22, new MoveTurnTable(-30, 0));%0A    %09//SmartDashboard.putData(%22Spin Turn Table Right%22, new MoveTurnTable(30, 0));%0A    %09/*SmartDashboard.putData(%22Free fire%22, new FreeFire());%0A    %09SmartDashboard.putData(%22Zero hood%22, new MoveHood(0));%0A    %09SmartDashboard.putData(%22Reset Intake Back%22, new ResetPID(RobotMap.intakeEncoderBack, Robot.intakeBack.encoderPID));%0A    %09SmartDashboard.putData(%22Reset Turntable%22, new ResetPID(RobotMap.turnTableEncoder, Robot.shooter.turnTablePidController));%0A    %09SmartDashboard.putData(%22Reset Hood%22, new ResetPID(RobotMap.hoodEncoder, Robot.shooter.hoodPidController));%0A    %09SmartDashboard.putData(%22Shovel some fries%22, new ChevalDeFrise(IntakeSide.FRONT));%0A    %09SmartDashboard.putData(%22Set Encoders Angle 90%22, new TurnRelative(90));%0A    %09SmartDashboard.putData(%22Set Encoders Angle 0%22, new TurnRelative(0));%0A    %09SmartDashboard.putData(%22Intake 'Boulder'%22, new IntakeBall(IntakeSide.FRONT));%0A    %09SmartDashboard.putData(%22Give Ball To Shooter%22, new GiveBallToShooter(IntakeSide.FRONT));%0A    %09SmartDashboard.putData(%22Limbo%22, new Limbo());%0A    %09SmartDashboard.putData(%22Drive Position%22, new DrivePosition());%0A    %09SmartDashboard.putData(%22Fire Shooter%22, new FireShooter());%0A    %09SmartDashboard.putData(%22Move Hood 0%22, new MoveHood(0));%0A    %09SmartDashboard.putData(%22Stop Wheels%22, new MoveShootingWheel(0));*/%0A    %09//SmartDashboard.putData(%22Track Button%22, new Track());%0A    %09//SmartDashboard.putData(%22Flip flipper%22, new FireShooter());%0A
     
@@ -644,18 +644,16 @@
  %7B%0A    %09
-/*
 SmartDas
@@ -952,103 +952,39 @@
 e%22, 
-new EncoderPIDSource(RobotMap.turnTableEncoder, 0.16096579, PIDSourceType.kDisplacement).pidGet
+Robot.shooter.getTurnTableAngle
 ());
@@ -1716,24 +1716,24 @@
 on%22);%0A    %09%0A
+
     %09SmartDa
@@ -1796,18 +1796,16 @@
 t%22, 0));
-*/
 %0A    %09%0A 

Remove unused SmartDashboard outputs