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.climber.StopWinch;
   7 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
   8 import org.usfirst.frc.team3501.robot.commands.driving.Turn90Left;
   9 import org.usfirst.frc.team3501.robot.commands.driving.Turn90Right;
  10 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
  11 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
  12 import org.usfirst.frc.team3501.robot.commands.intake.StopIntake;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  14 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  15 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  16 import org.usfirst.frc.team3501.robot.commands.shooter.StopIndexWheel;
  17
  18 import edu.wpi.first.wpilibj.Joystick;
  19 import edu.wpi.first.wpilibj.buttons.Button;
  20 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  21
  22 public class OI {
  23   private static OI oi;
  24   public static Joystick leftJoystick;
  25   public static Joystick rightJoystick;
  26
  27   public static Button toggleWinch;
  28
  29   public static Button toggleIndexWheel;
  30   public static Button toggleFlyWheel;
  31
  32   public static Button toggleIntake;
  33   public static Button toggleReverseIntake;
  34
  35   public static Button toggleGearSpeed;
  36
  37   public static Button increaseShootSpeed;
  38   public static Button decreaseShootSpeed;
  39
  40   public static Button turn90Right;
  41   public static Button turn90Left;
  42
  43   public static Button readyShooter;
  44   public static Button shootButton;
  45
  46   public OI() {
  47     System.out.println("OI is open");
  48     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  49     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  50
  51     shootButton = new JoystickButton(rightJoystick,
  52         Constants.OI.RIGHT_TRIGGER_BUTTON);
  53     toggleWinch = new JoystickButton(rightJoystick,
  54         Constants.OI.RIGHT_BUTTON_1);
  55     readyShooter = new JoystickButton(rightJoystick,
  56         Constants.OI.RIGHT_BUTTON_2);
  57     increaseShootSpeed = new JoystickButton(rightJoystick,
  58         Constants.OI.RIGHT_BUTTON_5);
  59     decreaseShootSpeed = new JoystickButton(rightJoystick,
  60         Constants.OI.RIGHT_BUTTON_6);
  61
  62     toggleIntake = new JoystickButton(leftJoystick,
  63         Constants.OI.LEFT_TRIGGER_BUTTON);
  64     toggleGearSpeed = new JoystickButton(leftJoystick,
  65         Constants.OI.LEFT_BUTTON_2);
  66     toggleIndexWheel = new JoystickButton(leftJoystick,
  67         Constants.OI.LEFT_BUTTON_2);
  68     toggleFlyWheel = new JoystickButton(leftJoystick,
  69         Constants.OI.LEFT_BUTTON_2);
  70     // toggleIntake = new JoystickButton(leftJoystick,
  71     // Constants.OI.LEFT_BUTTON_3);
  72     toggleReverseIntake = new JoystickButton(leftJoystick,
  73         Constants.OI.LEFT_BUTTON_4);
  74     turn90Right = new JoystickButton(leftJoystick, Constants.OI.LEFT_BUTTON_5);
  75     turn90Left = new JoystickButton(leftJoystick, Constants.OI.LEFT_BUTTON_6);
  76
  77     toggleWinch.whenActive(new RunWinchContinuous(1));
  78     toggleWinch.whenReleased(new StopWinch());
  79
  80     toggleIndexWheel.whenPressed(new RunIndexWheelContinuous(1));
  81
  82     toggleIntake.whenActive(new RunIntakeContinuous());
  83     toggleReverseIntake.whenActive(new ReverseIntakeContinuous());
  84     toggleIntake.whenReleased(new StopIntake());
  85     toggleReverseIntake.whenReleased(new StopIntake());
  86
  87     toggleGearSpeed.whenPressed(new ToggleGear());
  88
  89     increaseShootSpeed.whenPressed(new IncreaseShootingSpeed());
  90     decreaseShootSpeed.whenPressed(new DecreaseShootingSpeed());
  91
  92     turn90Right.whenPressed(new Turn90Right());
  93     turn90Left.whenPressed(new Turn90Left());
  94
  95     readyShooter.whenPressed(new PrepareToShoot());
  96     shootButton.whenActive(new Shoot());
  97     shootButton.whenReleased(new StopIndexWheel());
  98   }
  99
 100   public static OI getOI() {
 101     if (oi == null)
 102       oi = new OI();
 103     return oi;
 104   }
 105 }