1 package org
.usfirst
.frc
.team3501
.robot
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
.IntakeArm
;
4 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.SetHighGear
;
5 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.SetLowGear
;
6 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.ToggleFront
;
7 import org
.usfirst
.frc
.team3501
.robot
.commands
.intakearm
.MoveIntakeArm
;
8 import org
.usfirst
.frc
.team3501
.robot
.commands
.intakearm
.RunIntakeContinuous
;
9 import org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
.FireCatapult
;
10 import org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
.ResetCatapult
;
12 import edu
.wpi
.first
.wpilibj
.Joystick
;
13 import edu
.wpi
.first
.wpilibj
.buttons
.Button
;
14 import edu
.wpi
.first
.wpilibj
.buttons
.JoystickButton
;
17 public static Joystick leftJoystick
;
18 public static Joystick rightJoystick
;
20 // left joystick buttons
21 public static Button gearShift
;
22 public static Button extendIntake1
;
23 public static Button extendIntake2
;
24 public static Button retractIntake1
;
25 public static Button retractIntake2
;
26 public static Button toggleFront
;
28 // right joystick buttons
29 public static Button intake
;
30 public static Button outtake1
;
31 public static Button outtake2
;
32 public static Button shooterUp
;
33 public static Button shooterDown1
;
34 public static Button shooterDown2
;
37 leftJoystick
= new Joystick(Constants
.OI
.LEFT_STICK_PORT
);
38 rightJoystick
= new Joystick(Constants
.OI
.RIGHT_STICK_PORT
);
41 gearShift
= new JoystickButton(leftJoystick
,
42 Constants
.OI
.LEFT_JOYSTICK_GEAR_SHIFT_PORT
);
43 gearShift
.whenPressed(new SetHighGear());
44 gearShift
.whenReleased(new SetLowGear());
46 extendIntake1
= new JoystickButton(leftJoystick
,
47 Constants
.OI
.LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT
);
48 extendIntake1
.whenPressed(new MoveIntakeArm(IntakeArm
.EXTEND
));
50 extendIntake2
= new JoystickButton(leftJoystick
,
51 Constants
.OI
.LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT
);
52 extendIntake2
.whenPressed(new MoveIntakeArm(IntakeArm
.EXTEND
));
54 retractIntake1
= new JoystickButton(leftJoystick
,
55 Constants
.OI
.LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT
);
56 retractIntake1
.whenPressed(new MoveIntakeArm(IntakeArm
.RETRACT
));
58 retractIntake2
= new JoystickButton(leftJoystick
,
59 Constants
.OI
.LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT
);
60 retractIntake2
.whenPressed(new MoveIntakeArm(IntakeArm
.RETRACT
));
62 toggleFront
= new JoystickButton(leftJoystick
,
63 Constants
.OI
.LEFT_JOYSTICK_TOGGLE_FRONT_PORT
);
64 toggleFront
.whenPressed(new ToggleFront());
67 intake
= new JoystickButton(rightJoystick
,
68 Constants
.OI
.RIGHT_JOYSTICK_INTAKE_PORT
);
69 intake
.whenPressed(new RunIntakeContinuous(IntakeArm
.IN
));
70 intake
.whenReleased(new RunIntakeContinuous(IntakeArm
.STOP
));
72 outtake1
= new JoystickButton(rightJoystick
,
73 Constants
.OI
.RIGHT_JOYSTICK_OUTTAKE_1_PORT
);
74 outtake1
.whenPressed(new RunIntakeContinuous(IntakeArm
.OUT
));
75 outtake1
.whenReleased(new RunIntakeContinuous(IntakeArm
.STOP
));
77 outtake2
= new JoystickButton(rightJoystick
,
78 Constants
.OI
.RIGHT_JOYSTICK_OUTTAKE_2_PORT
);
79 outtake2
.whenPressed(new RunIntakeContinuous(IntakeArm
.OUT
));
80 outtake2
.whenReleased(new RunIntakeContinuous(IntakeArm
.STOP
));
82 shooterUp
= new JoystickButton(rightJoystick
,
83 Constants
.OI
.RIGHT_JOYSTICK_SHOOTER_UP_PORT
);
84 shooterUp
.whenPressed(new FireCatapult());
86 shooterDown1
= new JoystickButton(rightJoystick
,
87 Constants
.OI
.RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT
);
88 shooterDown1
.whenPressed(new ResetCatapult());
90 shooterDown2
= new JoystickButton(rightJoystick
,
91 Constants
.OI
.RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT
);
92 shooterDown2
.whenPressed(new ResetCatapult());