Commit | Line | Data |
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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
81787801 T |
3 | import org.usfirst.frc.team3501.robot.commandgroups.PrepareToShoot; |
4 | import org.usfirst.frc.team3501.robot.commandgroups.Shoot; | |
5 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear; | |
6 | import org.usfirst.frc.team3501.robot.commands.driving.Turn90Left; | |
7 | import org.usfirst.frc.team3501.robot.commands.driving.Turn90Right; | |
8 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; | |
622d3406 T |
9 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; |
10 | import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous; | |
81787801 | 11 | |
38a404b3 | 12 | import edu.wpi.first.wpilibj.Joystick; |
de8c65d3 SG |
13 | import edu.wpi.first.wpilibj.buttons.Button; |
14 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
38a404b3 KZ |
15 | |
16 | public class OI { | |
cca02549 | 17 | private static OI oi; |
38a404b3 KZ |
18 | public static Joystick leftJoystick; |
19 | public static Joystick rightJoystick; | |
81787801 | 20 | public static Button toggleWinch; |
2291f7b3 | 21 | public static Button toggleIndexWheel; |
22 | public static Button toggleFlyWheel; | |
81787801 T |
23 | public static Button toggleIntake; |
24 | public static Button toggleReverseIntake; | |
25 | public static Button toggleHighGear; | |
26 | public static Button toggleNormalGear; | |
27 | public static Button increaseShootSpeed; | |
28 | public static Button decreaseShootSpeed; | |
29 | public static Button turn90Right; | |
30 | public static Button turn90Left; | |
31 | public static Button readyShooter; | |
32 | public static Button shootButton; | |
2291f7b3 | 33 | |
38a404b3 | 34 | public OI() { |
81787801 | 35 | System.out.println("OI is open"); |
38a404b3 KZ |
36 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); |
37 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
de8c65d3 SG |
38 | toggleWinch = new JoystickButton(leftJoystick, |
39 | Constants.OI.TOGGLE_WINCH_PORT); | |
6f28f1e7 | 40 | |
2291f7b3 | 41 | toggleIndexWheel = new JoystickButton(leftJoystick, |
42 | Constants.OI.TOGGLE_INDEXWHEEL_PORT); | |
43 | toggleFlyWheel = new JoystickButton(leftJoystick, | |
44 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
9dcc48a1 | 45 | |
81787801 T |
46 | toggleIntake = new JoystickButton(leftJoystick, |
47 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
48 | toggleReverseIntake = new JoystickButton(leftJoystick, | |
49 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
50 | toggleHighGear = new JoystickButton(leftJoystick, | |
51 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
52 | toggleNormalGear = new JoystickButton(leftJoystick, | |
53 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
54 | increaseShootSpeed = new JoystickButton(leftJoystick, | |
55 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
56 | decreaseShootSpeed = new JoystickButton(leftJoystick, | |
57 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
58 | turn90Right = new JoystickButton(leftJoystick, | |
59 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
60 | turn90Left = new JoystickButton(leftJoystick, | |
61 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
62 | readyShooter = new JoystickButton(leftJoystick, | |
63 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
64 | shootButton = new JoystickButton(leftJoystick, | |
65 | Constants.OI.TOGGLE_FLYWHEEL_PORT); | |
66 | ||
67 | toggleIndexWheel.whenPressed(new RunIndexWheelContinuous(1)); | |
68 | toggleHighGear.whenPressed(new ToggleGear()); | |
69 | toggleNormalGear.whenPressed(new ToggleGear()); | |
70 | increaseShootSpeed.whenPressed(new IncreaseShootingSpeed()); | |
71 | decreaseShootSpeed.whenPressed(new DecreaseShootingSpeed()); | |
72 | turn90Right.whenPressed(new Turn90Right()); | |
73 | turn90Left.whenPressed(new Turn90Left()); | |
74 | readyShooter.whenPressed(new PrepareToShoot()); | |
75 | shootButton.whenPressed(new Shoot()); | |
9dcc48a1 | 76 | |
38a404b3 | 77 | } |
cf086549 SG |
78 | |
79 | public static OI getOI() { | |
80 | if (oi == null) | |
81 | oi = new OI(); | |
82 | return oi; | |
cca02549 | 83 | } |
38a404b3 | 84 | } |