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.RecordData;
   4 import org.usfirst.frc.team3501.robot.commands.shooter.Test1;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.Test2;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.Test3;
   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
  20   // // first column of arcade buttons - getting past defenses
  21   // public static DigitalButton passPortcullis;
  22   // public static DigitalButton passChevalDeFrise;
  23   // public static DigitalButton passDrawbridge;
  24   // public static DigitalButton passSallyPort;
  25   //
  26   // // second column of arcade buttons - different angles for intake arm
  27   // // TO DO: change position numbers to angle values (?)
  28   // public static DigitalButton lowerChevalDeFrise;
  29   // public static DigitalButton moveToIntakeBoulder;
  30   // public static DigitalButton poiseAboveChevalDeFrise;
  31   // public static DigitalButton moveIntakeArmInsideRobot;
  32   //
  33   // // left joystick buttons
  34   public static Button toggleShooter;
  35
  36   // public static Button SpinRobot180_1; // both do the same thing, just two
  37   // public static Button SpinRobot180_2; // different buttons
  38   // public static Button compactRobot_1;
  39   // public static Button compactRobot_2;
  40   //
  41   // // right joystick buttons
  42   // public static Button intakeBoulder;
  43   // public static Button shootBoulder;
  44   //
  45   // // button to change robot to the scaling mode
  46   // public static DigitalButton toggleScaling;
  47
  48   public OI() {
  49     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  50     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  51
  52     // passPortcullis = new DigitalButton(
  53     // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  54     // passPortcullis.whenPressed(new PassPortcullis());
  55     //
  56     // passChevalDeFrise = new DigitalButton(
  57     // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  58     // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  59     //
  60     // passDrawbridge = new DigitalButton(
  61     // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  62     // passDrawbridge.whenPressed(new PassDrawBridge());
  63     //
  64     // passSallyPort = new DigitalButton(
  65     // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  66     // passSallyPort.whenPressed(new PassSallyPort());
  67     //
  68     // lowerChevalDeFrise = new DigitalButton(
  69     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  70     // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  71     // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  72     //
  73     // moveToIntakeBoulder = new DigitalButton(
  74     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  75     // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  76     // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  77     //
  78     // poiseAboveChevalDeFrise = new DigitalButton(
  79     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  80     // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  81     // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  82     //
  83     // moveIntakeArmInsideRobot = new DigitalButton(
  84     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  85     // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
  86     // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
  87     //
  88     // toggleShooter = new JoystickButton(leftJoystick,
  89     // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  90
  91     recordData = new JoystickButton(leftJoystick,
  92         Constants.OI.SPIN1_PORT);
  93     recordData.whenPressed(new RecordData());
  94
  95     shoot = new JoystickButton(leftJoystick,
  96         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  97     shoot.whenPressed(new Test1());
  98
  99     incrementSpeed = new JoystickButton(leftJoystick,
 100         Constants.OI.SPIN2_PORT);
 101     incrementSpeed.whenPressed(new Test2());
 102
 103     decrementSpeed = new JoystickButton(leftJoystick,
 104         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 105     decrementSpeed.whenPressed(new Test3());
 106
 107     // SpinRobot180_1 = new JoystickButton(leftJoystick,
 108     // Constants.OI.SPIN1_PORT);
 109     // SpinRobot180_1.whenPressed(new Turn180());
 110     //
 111     // SpinRobot180_2 = new JoystickButton(leftJoystick,
 112     // Constants.OI.SPIN2_PORT);
 113     // SpinRobot180_2.whenPressed(new Turn180());
 114     //
 115     // compactRobot_1 = new JoystickButton(leftJoystick,
 116     // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 117     // compactRobot_2 = new JoystickButton(leftJoystick,
 118     // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 119     //
 120     // intakeBoulder = new JoystickButton(rightJoystick,
 121     // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 122     // shootBoulder = new JoystickButton(rightJoystick,
 123     // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 124     //
 125     // toggleScaling = new DigitalButton(
 126     // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 127     // toggleScaling.whenPressed(new ToggleScaling());
 128     //
 129     // if (!Constants.Scaler.SCALING) {
 130     // toggleShooter.toggleWhenPressed(new runShooter());
 131     // compactRobot_1.whenPressed(new CompactRobot());
 132     // compactRobot_2.whenPressed(new CompactRobot());
 133     //
 134     // intakeBoulder.whenPressed(new IntakeBall());
 135     // shootBoulder.whenPressed(new Shoot());
 136     //
 137     // } else {
 138     // // toggleShooter becomes winch
 139     // // compact robot button 1 and 2 retracts the lift
 140     // // intake button stops the winch
 141     // // shoot button extends the lift
 142     // toggleShooter.whenPressed(new RunWinchContinuous(
 143     // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
 144     // compactRobot_1.whenPressed(new RetractLift());
 145     // compactRobot_2.whenPressed(new RetractLift());
 146     //
 147     // intakeBoulder.whenReleased(new StopWinch());
 148     // shootBoulder.whenPressed(new ExtendLift());
 149     // }
 150   }
 151 }