challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/OI.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import org.usfirst.frc.team3501.robot.commands.shooter.ChangeShooterSpeed;
   4 import org.usfirst.frc.team3501.robot.commands.shooter.PrintData;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.RecordData;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
   7
   8 import edu.wpi.first.wpilibj.Joystick;
   9 import edu.wpi.first.wpilibj.buttons.Button;
  10 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  11
  12 public class OI {
  13   public static Joystick leftJoystick;
  14   public static Joystick rightJoystick;
  15   public static Button recordData;
  16   public static Button shoot;
  17   public static Button incrementSpeed;
  18   public static Button decrementSpeed;
  19   public static Button printData;
  20
  21   // // first column of arcade buttons - getting past defenses
  22   // public static DigitalButton passPortcullis;
  23   // public static DigitalButton passChevalDeFrise;
  24   // public static DigitalButton passDrawbridge;
  25   // public static DigitalButton passSallyPort;
  26   //
  27   // // second column of arcade buttons - different angles for intake arm
  28   // // TO DO: change position numbers to angle values (?)
  29   // public static DigitalButton lowerChevalDeFrise;
  30   // public static DigitalButton moveToIntakeBoulder;
  31   // public static DigitalButton poiseAboveChevalDeFrise;
  32   // public static DigitalButton moveIntakeArmInsideRobot;
  33   //
  34   // // left joystick buttons
  35   public static Button toggleShooter;
  36
  37   // public static Button SpinRobot180_1; // both do the same thing, just two
  38   // public static Button SpinRobot180_2; // different buttons
  39   // public static Button compactRobot_1;
  40   // public static Button compactRobot_2;
  41   //
  42   // // right joystick buttons
  43   // public static Button intakeBoulder;
  44   // public static Button shootBoulder;
  45   //
  46   // // button to change robot to the scaling mode
  47   // public static DigitalButton toggleScaling;
  48
  49   public OI() {
  50     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  51     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  52
  53     // passPortcullis = new DigitalButton(
  54     // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  55     // passPortcullis.whenPressed(new PassPortcullis());
  56     //
  57     // passChevalDeFrise = new DigitalButton(
  58     // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  59     // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  60     //
  61     // passDrawbridge = new DigitalButton(
  62     // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  63     // passDrawbridge.whenPressed(new PassDrawBridge());
  64     //
  65     // passSallyPort = new DigitalButton(
  66     // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  67     // passSallyPort.whenPressed(new PassSallyPort());
  68     //
  69     // lowerChevalDeFrise = new DigitalButton(
  70     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  71     // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  72     // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  73     //
  74     // moveToIntakeBoulder = new DigitalButton(
  75     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  76     // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  77     // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  78     //
  79     // poiseAboveChevalDeFrise = new DigitalButton(
  80     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  81     // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  82     // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  83     //
  84     // moveIntakeArmInsideRobot = new DigitalButton(
  85     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  86     // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
  87     // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
  88     //
  89     // toggleShooter = new JoystickButton(leftJoystick,
  90     // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  91
  92     recordData = new JoystickButton(leftJoystick,
  93         Constants.OI.SPIN1_PORT);
  94     recordData.whenPressed(new RecordData());
  95
  96     shoot = new JoystickButton(leftJoystick,
  97         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  98     shoot.whenPressed(new Shoot());
  99
 100     incrementSpeed = new JoystickButton(leftJoystick,
 101         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 102     incrementSpeed.whenPressed(new ChangeShooterSpeed(0.1));
 103
 104     decrementSpeed = new JoystickButton(leftJoystick,
 105         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 106     decrementSpeed.whenPressed(new ChangeShooterSpeed(-0.1));
 107
 108     printData = new JoystickButton(leftJoystick,
 109         Constants.OI.SPIN2_PORT);
 110     printData.whenPressed(new PrintData());
 111
 112     // SpinRobot180_1 = new JoystickButton(leftJoystick,
 113     // Constants.OI.SPIN1_PORT);
 114     // SpinRobot180_1.whenPressed(new Turn180());
 115     //
 116     // SpinRobot180_2 = new JoystickButton(leftJoystick,
 117     // Constants.OI.SPIN2_PORT);
 118     // SpinRobot180_2.whenPressed(new Turn180());
 119     //
 120     // compactRobot_1 = new JoystickButton(leftJoystick,
 121     // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 122     // compactRobot_2 = new JoystickButton(leftJoystick,
 123     // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 124     //
 125     // intakeBoulder = new JoystickButton(rightJoystick,
 126     // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 127     // shootBoulder = new JoystickButton(rightJoystick,
 128     // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 129     //
 130     // toggleScaling = new DigitalButton(
 131     // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 132     // toggleScaling.whenPressed(new ToggleScaling());
 133     //
 134     // if (!Constants.Scaler.SCALING) {
 135     // toggleShooter.toggleWhenPressed(new runShooter());
 136     // compactRobot_1.whenPressed(new CompactRobot());
 137     // compactRobot_2.whenPressed(new CompactRobot());
 138     //
 139     // intakeBoulder.whenPressed(new IntakeBall());
 140     // shootBoulder.whenPressed(new Shoot());
 141     //
 142     // } else {
 143     // // toggleShooter becomes winch
 144     // // compact robot button 1 and 2 retracts the lift
 145     // // intake button stops the winch
 146     // // shoot button extends the lift
 147     // toggleShooter.whenPressed(new RunWinchContinuous(
 148     // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
 149     // compactRobot_1.whenPressed(new RetractLift());
 150     // compactRobot_2.whenPressed(new RetractLift());
 151     //
 152     // intakeBoulder.whenReleased(new StopWinch());
 153     // shootBoulder.whenPressed(new ExtendLift());
 154     // }
 155   }
 156 }