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.Test1;
   4 import org.usfirst.frc.team3501.robot.commands.shooter.Test2;
   5 import org.usfirst.frc.team3501.robot.commands.shooter.Test3;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.Test4;
   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 test1;
  16   public static Button test2;
  17   public static Button test3;
  18   public static Button test4;
  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   // public static Button SpinRobot180_1; // both do the same thing, just two
  36   // public static Button SpinRobot180_2; // different buttons
  37   // public static Button compactRobot_1;
  38   // public static Button compactRobot_2;
  39   //
  40   // // right joystick buttons
  41   // public static Button intakeBoulder;
  42   // public static Button shootBoulder;
  43   //
  44   // // button to change robot to the scaling mode
  45   // public static DigitalButton toggleScaling;
  46
  47   public OI() {
  48     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  49     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  50
  51     test1 = new JoystickButton(leftJoystick,
  52         Constants.OI.SPIN1_PORT);
  53     test1.whenPressed(new Test1());
  54
  55     test2 = new JoystickButton(leftJoystick,
  56         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
  57     test2.whenPressed(new Test2());
  58
  59     test3 = new JoystickButton(leftJoystick,
  60         Constants.OI.SPIN2_PORT);
  61     test3.whenPressed(new Test3());
  62
  63     test4 = new JoystickButton(leftJoystick,
  64         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
  65     test4.whenPressed(new Test4());
  66
  67     // passPortcullis = new DigitalButton(
  68     // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  69     // passPortcullis.whenPressed(new PassPortcullis());
  70     //
  71     // passChevalDeFrise = new DigitalButton(
  72     // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  73     // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  74     //
  75     // passDrawbridge = new DigitalButton(
  76     // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  77     // passDrawbridge.whenPressed(new PassDrawBridge());
  78     //
  79     // passSallyPort = new DigitalButton(
  80     // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  81     // passSallyPort.whenPressed(new PassSallyPort());
  82     //
  83     // lowerChevalDeFrise = new DigitalButton(
  84     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  85     // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  86     // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  87     //
  88     // moveToIntakeBoulder = new DigitalButton(
  89     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  90     // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  91     // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  92     //
  93     // poiseAboveChevalDeFrise = new DigitalButton(
  94     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  95     // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  96     // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  97     //
  98     // moveIntakeArmInsideRobot = new DigitalButton(
  99     // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
 100     // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
 101     // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
 102     //
 103     // toggleShooter = new JoystickButton(leftJoystick,
 104     // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
 105     // SpinRobot180_1 = new JoystickButton(leftJoystick,
 106     // Constants.OI.SPIN1_PORT);
 107     // SpinRobot180_1.whenPressed(new Turn180());
 108     //
 109     // SpinRobot180_2 = new JoystickButton(leftJoystick,
 110     // Constants.OI.SPIN2_PORT);
 111     // SpinRobot180_2.whenPressed(new Turn180());
 112     //
 113     // compactRobot_1 = new JoystickButton(leftJoystick,
 114     // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 115     // compactRobot_2 = new JoystickButton(leftJoystick,
 116     // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 117     //
 118     // intakeBoulder = new JoystickButton(rightJoystick,
 119     // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 120     // shootBoulder = new JoystickButton(rightJoystick,
 121     // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 122     //
 123     // toggleScaling = new DigitalButton(
 124     // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 125     // toggleScaling.whenPressed(new ToggleScaling());
 126     //
 127     // if (!Constants.Scaler.SCALING) {
 128     // toggleShooter.toggleWhenPressed(new runShooter());
 129     // compactRobot_1.whenPressed(new CompactRobot());
 130     // compactRobot_2.whenPressed(new CompactRobot());
 131     //
 132     // intakeBoulder.whenPressed(new IntakeBall());
 133     // shootBoulder.whenPressed(new Shoot());
 134     //
 135     // } else {
 136     // // toggleShooter becomes winch
 137     // // compact robot button 1 and 2 retracts the lift
 138     // // intake button stops the winch
 139     // // shoot button extends the lift
 140     // toggleShooter.whenPressed(new RunWinchContinuous(
 141     // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
 142     // compactRobot_1.whenPressed(new RetractLift());
 143     // compactRobot_2.whenPressed(new RetractLift());
 144     //
 145     // intakeBoulder.whenReleased(new StopWinch());
 146     // shootBoulder.whenPressed(new ExtendLift());
 147     // }
 148   }
 149 }