| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import java.util.Arrays; |
| 4 | |
| 5 | import org.usfirst.frc.team3501.robot.commands.*; |
| 6 | |
| 7 | public class OI { |
| 8 | |
| 9 | private Joystick left, right; |
| 10 | |
| 11 | public OI() { |
| 12 | left = new Joystick(RobotMap.LEFT_JOYSTICK_PORT); |
| 13 | right = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT); |
| 14 | |
| 15 | right.whenPressed(1, new CloseClaw()); |
| 16 | right.whenReleased(1, new OpenClaw()); |
| 17 | right.whenPressed(2, new ToggleClaw()); |
| 18 | |
| 19 | right.whenPressed(11, new TurnOffCompressor()); |
| 20 | right.whenPressed(12, new TurnOffCompressor()); |
| 21 | right.whenPressed(7, new TurnOnCompressor()); |
| 22 | right.whenPressed(8, new TurnOnCompressor()); |
| 23 | |
| 24 | // potential bug point: this should "Just Work" because as soon as |
| 25 | // command stops running, left stick pos at 0 should take over... |
| 26 | // if that is not the case, arm will continue indefinitely. |
| 27 | left.whileHeld(7, new TensionLeftWinch(RobotMap.ARM_ADJUST_SPEED)); |
| 28 | left.whileHeld(6, new TensionLeftWinch(-RobotMap.ARM_ADJUST_SPEED)); |
| 29 | left.whileHeld(11, new TensionRightWinch(RobotMap.ARM_ADJUST_SPEED)); |
| 30 | left.whileHeld(10, new TensionRightWinch(-RobotMap.ARM_ADJUST_SPEED)); |
| 31 | } |
| 32 | |
| 33 | public double getForwardL() { |
| 34 | return left.getY(); |
| 35 | } |
| 36 | |
| 37 | public double getForwardR() { |
| 38 | return right.getY(); |
| 39 | } |
| 40 | |
| 41 | public double getTwistR() { |
| 42 | return right.getTwist(); |
| 43 | } |
| 44 | |
| 45 | public boolean getRightPressed(int... buttons) { |
| 46 | return Arrays.stream(buttons).anyMatch(b -> right.get(b)); |
| 47 | } |
| 48 | } |