challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/OI.java

   1 package org.usfirst.frc.team3501.robot;
   2
   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.climber.RunWinchContinuous;
   6 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
   7 import org.usfirst.frc.team3501.robot.commands.driving.Turn90Left;
   8 import org.usfirst.frc.team3501.robot.commands.driving.Turn90Right;
   9 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
  11 import org.usfirst.frc.team3501.robot.commands.intake.StopIntake;
  12 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  14 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  15 import org.usfirst.frc.team3501.robot.commands.shooter.StopIndexWheel;
  16
  17 import edu.wpi.first.wpilibj.Joystick;
  18 import edu.wpi.first.wpilibj.buttons.Button;
  19 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  20
  21 public class OI {
  22   private static OI oi;
  23   public static Joystick leftJoystick;
  24   public static Joystick rightJoystick;
  25
  26   public static Button toggleWinch;
  27
  28   public static Button toggleIndexWheel;
  29   public static Button toggleFlyWheel;
  30
  31   public static Button toggleIntake;
  32   public static Button toggleReverseIntake;
  33
  34   public static Button toggleGearSpeed;
  35
  36   public static Button increaseShootSpeed;
  37   public static Button decreaseShootSpeed;
  38
  39   public static Button turn90Right;
  40   public static Button turn90Left;
  41
  42   public static Button readyShooter;
  43   public static Button shootButton;
  44
  45   public OI() {
  46     System.out.println("OI is open");
  47     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  48     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  49
  50     shootButton = new JoystickButton(rightJoystick,
  51         Constants.OI.RIGHT_TRIGGER_BUTTON);
  52     toggleWinch = new JoystickButton(rightJoystick,
  53         Constants.OI.RIGHT_BUTTON_1);
  54     readyShooter = new JoystickButton(rightJoystick,
  55         Constants.OI.RIGHT_BUTTON_2);
  56     increaseShootSpeed = new JoystickButton(rightJoystick,
  57         Constants.OI.RIGHT_BUTTON_5);
  58     decreaseShootSpeed = new JoystickButton(rightJoystick,
  59         Constants.OI.RIGHT_BUTTON_6);
  60
  61     toggleIntake = new JoystickButton(leftJoystick,
  62         Constants.OI.LEFT_TRIGGER_BUTTON);
  63     toggleGearSpeed = new JoystickButton(leftJoystick,
  64         Constants.OI.LEFT_BUTTON_2);
  65     toggleIndexWheel = new JoystickButton(leftJoystick,
  66         Constants.OI.LEFT_BUTTON_2);
  67     toggleFlyWheel = new JoystickButton(leftJoystick,
  68         Constants.OI.LEFT_BUTTON_2);
  69     // toggleIntake = new JoystickButton(leftJoystick,
  70     // Constants.OI.LEFT_BUTTON_3);
  71     toggleReverseIntake = new JoystickButton(leftJoystick,
  72         Constants.OI.LEFT_BUTTON_4);
  73     turn90Right = new JoystickButton(leftJoystick, Constants.OI.LEFT_BUTTON_5);
  74     turn90Left = new JoystickButton(leftJoystick, Constants.OI.LEFT_BUTTON_6);
  75
  76     toggleWinch.whenActive(new RunWinchContinuous(1));
  77     // toggleWinch.whenReleased(new KeepWinchInPlace());
  78
  79     toggleIndexWheel.whenPressed(new RunIndexWheelContinuous(1));
  80
  81     toggleIntake.whenActive(new RunIntakeContinuous());
  82     toggleReverseIntake.whenActive(new ReverseIntakeContinuous());
  83     toggleIntake.whenReleased(new StopIntake());
  84     toggleReverseIntake.whenReleased(new StopIntake());
  85
  86     toggleGearSpeed.whenPressed(new ToggleGear());
  87
  88     increaseShootSpeed.whenPressed(new IncreaseShootingSpeed());
  89     decreaseShootSpeed.whenPressed(new DecreaseShootingSpeed());
  90
  91     turn90Right.whenPressed(new Turn90Right());
  92     turn90Left.whenPressed(new Turn90Left());
  93
  94     readyShooter.whenPressed(new PrepareToShoot());
  95     shootButton.whenActive(new Shoot());
  96     shootButton.whenReleased(new StopIndexWheel());
  97   }
  98
  99   public static OI getOI() {
 100     if (oi == null)
 101       oi = new OI();
 102     return oi;
 103   }
 104 }