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.PrintData;
   4 import org.usfirst.frc.team3501.robot.commands.shooter.RecordData;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.Test1;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.Test2;
   7 import org.usfirst.frc.team3501.robot.commands.shooter.Test3;
   8
   9 import edu.wpi.first.wpilibj.Joystick;
  10 import edu.wpi.first.wpilibj.buttons.Button;
  11 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  12
  13 public class OI {
  14   public static Joystick leftJoystick;
  15   public static Joystick rightJoystick;
  16   public static Button recordData;
  17   public static Button shoot;
  18   public static Button incrementSpeed;
  19   public static Button decrementSpeed;
  20   public static Button printData;
  21
  22   // // first column of arcade buttons - getting past defenses
  23   // public static DigitalButton passPortcullis;
  24   // public static DigitalButton passChevalDeFrise;
  25   // public static DigitalButton passDrawbridge;
  26   // public static DigitalButton passSallyPort;
  27   //
  28   // // second column of arcade buttons - different angles for intake arm
  29   // // TO DO: change position numbers to angle values (?)
  30   // public static DigitalButton lowerChevalDeFrise;
  31   // public static DigitalButton moveToIntakeBoulder;
  32   // public static DigitalButton poiseAboveChevalDeFrise;
  33   // public static DigitalButton moveIntakeArmInsideRobot;
  34   //
  35   // // left joystick buttons
  36   public static Button toggleShooter;
  37
  38   // public static Button SpinRobot180_1; // both do the same thing, just two
  39   // public static Button SpinRobot180_2; // different buttons
  40   // public static Button compactRobot_1;
  41   // public static Button compactRobot_2;
  42   //
  43   // // right joystick buttons
  44   // public static Button intakeBoulder;
  45   // public static Button shootBoulder;
  46   //
  47   // // button to change robot to the scaling mode
  48   // public static DigitalButton toggleScaling;
  49
  50   public OI() {
  51     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  52     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  53
  54     // passPortcullis = new DigitalButton(
  55     // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  56     // passPortcullis.whenPressed(new PassPortcullis());
  57     //
  58     // passChevalDeFrise = new DigitalButton(
  59     // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  60     // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  61     //
  62     // passDrawbridge = new DigitalButton(
  63     // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  64     // passDrawbridge.whenPressed(new PassDrawBridge());
  65     //
  66     // passSallyPort = new DigitalButton(
  67     // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  68     // passSallyPort.whenPressed(new PassSallyPort());
  69     //
  70     // lowerChevalDeFrise = new DigitalButton(
  71     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  72     // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  73     // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  74     //
  75     // moveToIntakeBoulder = new DigitalButton(
  76     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  77     // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  78     // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  79     //
  80     // poiseAboveChevalDeFrise = new DigitalButton(
  81     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  82     // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  83     // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  84     //
  85     // moveIntakeArmInsideRobot = new DigitalButton(
  86     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  87     // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
  88     // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
  89     //
  90     // toggleShooter = new JoystickButton(leftJoystick,
  91     // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  92
  93     recordData = new JoystickButton(leftJoystick,
  94         Constants.OI.SPIN1_PORT);
  95     recordData.whenPressed(new RecordData());
  96
  97     shoot = new JoystickButton(leftJoystick,
  98         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  99     shoot.whenPressed(new Test1());
 100
 101     incrementSpeed = new JoystickButton(leftJoystick,
 102         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 103     incrementSpeed.whenPressed(new Test2());
 104
 105     decrementSpeed = new JoystickButton(leftJoystick,
 106         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 107     decrementSpeed.whenPressed(new Test3());
 108
 109     printData = new JoystickButton(leftJoystick,
 110         Constants.OI.SPIN2_PORT);
 111     printData.whenPressed(new PrintData());
 112
 113     // SpinRobot180_1 = new JoystickButton(leftJoystick,
 114     // Constants.OI.SPIN1_PORT);
 115     // SpinRobot180_1.whenPressed(new Turn180());
 116     //
 117     // SpinRobot180_2 = new JoystickButton(leftJoystick,
 118     // Constants.OI.SPIN2_PORT);
 119     // SpinRobot180_2.whenPressed(new Turn180());
 120     //
 121     // compactRobot_1 = new JoystickButton(leftJoystick,
 122     // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 123     // compactRobot_2 = new JoystickButton(leftJoystick,
 124     // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 125     //
 126     // intakeBoulder = new JoystickButton(rightJoystick,
 127     // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 128     // shootBoulder = new JoystickButton(rightJoystick,
 129     // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 130     //
 131     // toggleScaling = new DigitalButton(
 132     // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 133     // toggleScaling.whenPressed(new ToggleScaling());
 134     //
 135     // if (!Constants.Scaler.SCALING) {
 136     // toggleShooter.toggleWhenPressed(new runShooter());
 137     // compactRobot_1.whenPressed(new CompactRobot());
 138     // compactRobot_2.whenPressed(new CompactRobot());
 139     //
 140     // intakeBoulder.whenPressed(new IntakeBall());
 141     // shootBoulder.whenPressed(new Shoot());
 142     //
 143     // } else {
 144     // // toggleShooter becomes winch
 145     // // compact robot button 1 and 2 retracts the lift
 146     // // intake button stops the winch
 147     // // shoot button extends the lift
 148     // toggleShooter.whenPressed(new RunWinchContinuous(
 149     // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
 150     // compactRobot_1.whenPressed(new RetractLift());
 151     // compactRobot_2.whenPressed(new RetractLift());
 152     //
 153     // intakeBoulder.whenReleased(new StopWinch());
 154     // shootBoulder.whenPressed(new ExtendLift());
 155     // }
 156   }
 157 }