| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot; |
| 4 | import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise; |
| 5 | import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge; |
| 6 | import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis; |
| 7 | import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort; |
| 8 | import org.usfirst.frc.team3501.robot.commands.driving.Turn180; |
| 9 | import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall; |
| 10 | import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle; |
| 11 | import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift; |
| 12 | import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift; |
| 13 | import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous; |
| 14 | import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch; |
| 15 | import org.usfirst.frc.team3501.robot.commands.shooter.Shoot; |
| 16 | import org.usfirst.frc.team3501.robot.commands.shooter.runShooter; |
| 17 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
| 18 | |
| 19 | import edu.wpi.first.wpilibj.DigitalInput; |
| 20 | import edu.wpi.first.wpilibj.Joystick; |
| 21 | import edu.wpi.first.wpilibj.buttons.Button; |
| 22 | import edu.wpi.first.wpilibj.buttons.JoystickButton; |
| 23 | import edu.wpi.first.wpilibj.command.Scheduler; |
| 24 | |
| 25 | public class OI { |
| 26 | public static boolean isScalingMode = false; |
| 27 | public static boolean isCompactRobot = false; |
| 28 | |
| 29 | public static Joystick leftJoystick; |
| 30 | public static Joystick rightJoystick; |
| 31 | |
| 32 | // first column of arcade buttons - getting past defenses |
| 33 | public static DigitalButton passPortcullis; |
| 34 | public static DigitalButton passChevalDeFrise; |
| 35 | public static DigitalButton passDrawbridge; |
| 36 | public static DigitalButton passSallyPort; |
| 37 | |
| 38 | // second column of arcade buttons - different angles for intake arm |
| 39 | // TO DO: change position numbers to angle values (?) |
| 40 | public static DigitalButton lowerChevalDeFrise; |
| 41 | public static DigitalButton moveToIntakeBoulder; |
| 42 | public static DigitalButton poiseAboveChevalDeFrise; |
| 43 | public static DigitalButton moveIntakeArmInsideRobot; |
| 44 | |
| 45 | // left joystick buttons |
| 46 | public static Button toggleShooter; |
| 47 | public static Button SpinRobot180_1; // both do the same thing, just two |
| 48 | public static Button SpinRobot180_2; // different buttons |
| 49 | public static Button compactRobot_1; |
| 50 | public static Button compactRobot_2; |
| 51 | |
| 52 | // right joystick buttons |
| 53 | public static Button intakeBoulder; |
| 54 | public static Button shootBoulder; |
| 55 | |
| 56 | // button to change robot to the scaling mode |
| 57 | public static DigitalButton toggleScalingMode; |
| 58 | |
| 59 | public OI() { |
| 60 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); |
| 61 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); |
| 62 | |
| 63 | passPortcullis = new DigitalButton( |
| 64 | new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT)); |
| 65 | passChevalDeFrise = new DigitalButton( |
| 66 | new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT)); |
| 67 | passDrawbridge = new DigitalButton( |
| 68 | new DigitalInput(Constants.OI.PASS_DRAWBRIDGE)); |
| 69 | passSallyPort = new DigitalButton( |
| 70 | new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT)); |
| 71 | |
| 72 | lowerChevalDeFrise = new DigitalButton( |
| 73 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT)); |
| 74 | moveToIntakeBoulder = new DigitalButton( |
| 75 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT)); |
| 76 | poiseAboveChevalDeFrise = new DigitalButton( |
| 77 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT)); |
| 78 | moveIntakeArmInsideRobot = new DigitalButton( |
| 79 | new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT)); |
| 80 | |
| 81 | toggleShooter = new JoystickButton(leftJoystick, |
| 82 | Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT); |
| 83 | SpinRobot180_1 = new JoystickButton(leftJoystick, |
| 84 | Constants.OI.LEFT_JOYSTICK_TOP_LEFT_PORT); |
| 85 | SpinRobot180_2 = new JoystickButton(leftJoystick, |
| 86 | Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT); |
| 87 | compactRobot_1 = new JoystickButton(leftJoystick, |
| 88 | Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT); |
| 89 | compactRobot_2 = new JoystickButton(leftJoystick, |
| 90 | Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT); |
| 91 | |
| 92 | intakeBoulder = new JoystickButton(rightJoystick, |
| 93 | Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT); |
| 94 | shootBoulder = new JoystickButton(rightJoystick, |
| 95 | Constants.OI.RIGHT_JOYSTICK_THUMB_PORT); |
| 96 | |
| 97 | toggleScalingMode = new DigitalButton( |
| 98 | new DigitalInput(Constants.OI.SCALING_BUTTON_PORT)); |
| 99 | |
| 100 | passPortcullis.whenPressed(new PassPortcullis()); |
| 101 | passChevalDeFrise.whenPressed(new PassChevalDeFrise()); |
| 102 | passDrawbridge.whenPressed(new PassDrawBridge()); |
| 103 | passSallyPort.whenPressed(new PassSallyPort()); |
| 104 | |
| 105 | lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
| 106 | IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed)); |
| 107 | moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle( |
| 108 | IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed)); |
| 109 | poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
| 110 | IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed)); |
| 111 | moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle( |
| 112 | IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed)); |
| 113 | |
| 114 | if (toggleScalingMode.get()) { |
| 115 | if (!isScalingMode) { |
| 116 | isScalingMode = true; |
| 117 | if (!isCompactRobot) { |
| 118 | Scheduler.getInstance().add(new CompactRobot()); |
| 119 | isCompactRobot = true; |
| 120 | } |
| 121 | } else if (isScalingMode) { |
| 122 | isScalingMode = false; |
| 123 | Scheduler.getInstance().add(new CompactRobot()); |
| 124 | } |
| 125 | } |
| 126 | |
| 127 | if (!isScalingMode) { |
| 128 | toggleShooter.toggleWhenPressed(new runShooter()); |
| 129 | compactRobot_1.whenPressed(new CompactRobot()); |
| 130 | compactRobot_2.whenPressed(new CompactRobot()); |
| 131 | |
| 132 | intakeBoulder.whenPressed(new IntakeBall()); |
| 133 | shootBoulder.whenPressed(new Shoot()); |
| 134 | |
| 135 | } else if (isScalingMode) { |
| 136 | toggleShooter.whenPressed(new RunWinchContinuous( |
| 137 | Constants.Scaler.WINCH_IN_SPEED)); |
| 138 | compactRobot_1.whenPressed(new RetractLift()); |
| 139 | compactRobot_2.whenPressed(new RetractLift()); |
| 140 | |
| 141 | intakeBoulder.whenReleased(new StopWinch()); |
| 142 | shootBoulder.whenPressed(new ExtendLift()); |
| 143 | } |
| 144 | |
| 145 | SpinRobot180_1.whenPressed(new Turn180()); |
| 146 | SpinRobot180_2.whenPressed(new Turn180()); |
| 147 | } |
| 148 | } |