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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
54c588d9 | 3 | import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot; |
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4 | import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise; |
5 | import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge; | |
8a3090b5 | 6 | import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis; |
6b06b2bc | 7 | import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort; |
54c588d9 | 8 | import org.usfirst.frc.team3501.robot.commands.driving.Turn180; |
6b06b2bc | 9 | import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall; |
54c588d9 | 10 | import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle; |
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11 | import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift; |
12 | import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift; | |
1bfa24f2 CZ |
13 | import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous; |
14 | import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch; | |
52ef246c | 15 | import org.usfirst.frc.team3501.robot.commands.scaler.ToggleScaling; |
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16 | import org.usfirst.frc.team3501.robot.commands.shooter.Shoot; |
17 | import org.usfirst.frc.team3501.robot.commands.shooter.runShooter; | |
54c588d9 | 18 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
37e5a121 | 19 | |
6b06b2bc | 20 | import edu.wpi.first.wpilibj.DigitalInput; |
38a404b3 | 21 | import edu.wpi.first.wpilibj.Joystick; |
cb3389eb E |
22 | import edu.wpi.first.wpilibj.buttons.Button; |
23 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
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24 | |
25 | public class OI { | |
26 | public static Joystick leftJoystick; | |
27 | public static Joystick rightJoystick; | |
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28 | |
29 | // first column of arcade buttons - getting past defenses | |
30 | public static DigitalButton passPortcullis; | |
31 | public static DigitalButton passChevalDeFrise; | |
32 | public static DigitalButton passDrawbridge; | |
33 | public static DigitalButton passSallyPort; | |
34 | ||
35 | // second column of arcade buttons - different angles for intake arm | |
36 | // TO DO: change position numbers to angle values (?) | |
37 | public static DigitalButton lowerChevalDeFrise; | |
38 | public static DigitalButton moveToIntakeBoulder; | |
39 | public static DigitalButton poiseAboveChevalDeFrise; | |
40 | public static DigitalButton moveIntakeArmInsideRobot; | |
41 | ||
42 | // left joystick buttons | |
43 | public static Button toggleShooter; | |
44 | public static Button SpinRobot180_1; // both do the same thing, just two | |
45 | public static Button SpinRobot180_2; // different buttons | |
46 | public static Button compactRobot_1; | |
47 | public static Button compactRobot_2; | |
48 | ||
49 | // right joystick buttons | |
50 | public static Button intakeBoulder; | |
51 | public static Button shootBoulder; | |
52 | ||
53 | // button to change robot to the scaling mode | |
52ef246c | 54 | public static DigitalButton toggleScaling; |
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55 | |
56 | public OI() { | |
57 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); | |
58 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
59 | ||
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60 | passPortcullis = new DigitalButton( |
61 | new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT)); | |
52ef246c KZ |
62 | passPortcullis.whenPressed(new PassPortcullis()); |
63 | ||
6b06b2bc CZ |
64 | passChevalDeFrise = new DigitalButton( |
65 | new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT)); | |
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66 | passChevalDeFrise.whenPressed(new PassChevalDeFrise()); |
67 | ||
6b06b2bc | 68 | passDrawbridge = new DigitalButton( |
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69 | new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT)); |
70 | passDrawbridge.whenPressed(new PassDrawBridge()); | |
71 | ||
6b06b2bc CZ |
72 | passSallyPort = new DigitalButton( |
73 | new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT)); | |
52ef246c | 74 | passSallyPort.whenPressed(new PassSallyPort()); |
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75 | |
76 | lowerChevalDeFrise = new DigitalButton( | |
77 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT)); | |
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78 | lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
79 | IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed)); | |
80 | ||
6b06b2bc CZ |
81 | moveToIntakeBoulder = new DigitalButton( |
82 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT)); | |
52ef246c KZ |
83 | moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle( |
84 | IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed)); | |
85 | ||
6b06b2bc CZ |
86 | poiseAboveChevalDeFrise = new DigitalButton( |
87 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT)); | |
52ef246c KZ |
88 | poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
89 | IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed)); | |
90 | ||
6b06b2bc CZ |
91 | moveIntakeArmInsideRobot = new DigitalButton( |
92 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT)); | |
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93 | moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle( |
94 | IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed)); | |
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95 | |
96 | toggleShooter = new JoystickButton(leftJoystick, | |
97 | Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT); | |
98 | SpinRobot180_1 = new JoystickButton(leftJoystick, | |
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99 | Constants.OI.SPIN1_PORT); |
100 | SpinRobot180_1.whenPressed(new Turn180()); | |
101 | ||
6b06b2bc | 102 | SpinRobot180_2 = new JoystickButton(leftJoystick, |
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103 | Constants.OI.SPIN2_PORT); |
104 | SpinRobot180_2.whenPressed(new Turn180()); | |
105 | ||
6b06b2bc CZ |
106 | compactRobot_1 = new JoystickButton(leftJoystick, |
107 | Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT); | |
108 | compactRobot_2 = new JoystickButton(leftJoystick, | |
109 | Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT); | |
110 | ||
111 | intakeBoulder = new JoystickButton(rightJoystick, | |
112 | Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT); | |
113 | shootBoulder = new JoystickButton(rightJoystick, | |
114 | Constants.OI.RIGHT_JOYSTICK_THUMB_PORT); | |
115 | ||
52ef246c KZ |
116 | toggleScaling = new DigitalButton( |
117 | new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT)); | |
118 | toggleScaling.whenPressed(new ToggleScaling()); | |
6b06b2bc | 119 | |
52ef246c | 120 | if (!Constants.Scaler.SCALING) { |
6b06b2bc CZ |
121 | toggleShooter.toggleWhenPressed(new runShooter()); |
122 | compactRobot_1.whenPressed(new CompactRobot()); | |
54c588d9 | 123 | compactRobot_2.whenPressed(new CompactRobot()); |
6b06b2bc CZ |
124 | |
125 | intakeBoulder.whenPressed(new IntakeBall()); | |
126 | shootBoulder.whenPressed(new Shoot()); | |
cb3389eb | 127 | |
2c52b14f | 128 | } else { |
52ef246c KZ |
129 | // toggleShooter becomes winch |
130 | // compact robot button 1 and 2 retracts the lift | |
131 | // intake button stops the winch | |
132 | // shoot button extends the lift | |
1bfa24f2 | 133 | toggleShooter.whenPressed(new RunWinchContinuous( |
eab4ce91 | 134 | Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE)); |
6b06b2bc | 135 | compactRobot_1.whenPressed(new RetractLift()); |
54c588d9 | 136 | compactRobot_2.whenPressed(new RetractLift()); |
7a949394 | 137 | |
1bfa24f2 | 138 | intakeBoulder.whenReleased(new StopWinch()); |
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139 | shootBoulder.whenPressed(new ExtendLift()); |
140 | } | |
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141 | } |
142 | } |