+ // passPortcullis = new DigitalButton(
+ // new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
+ // passPortcullis.whenPressed(new PassPortcullis());
+ //
+ // passChevalDeFrise = new DigitalButton(
+ // new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
+ // passChevalDeFrise.whenPressed(new PassChevalDeFrise());
+ //
+ // passDrawbridge = new DigitalButton(
+ // new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
+ // passDrawbridge.whenPressed(new PassDrawBridge());
+ //
+ // passSallyPort = new DigitalButton(
+ // new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
+ // passSallyPort.whenPressed(new PassSallyPort());
+ //
+ // lowerChevalDeFrise = new DigitalButton(
+ // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
+ // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+ // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
+ //
+ // moveToIntakeBoulder = new DigitalButton(
+ // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
+ // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
+ // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
+ //
+ // poiseAboveChevalDeFrise = new DigitalButton(
+ // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
+ // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+ // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
+ //
+ // moveIntakeArmInsideRobot = new DigitalButton(
+ // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
+ // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
+ // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
+ //
+ // toggleShooter = new JoystickButton(leftJoystick,
+ // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+ // SpinRobot180_1 = new JoystickButton(leftJoystick,
+ // Constants.OI.SPIN1_PORT);
+ // SpinRobot180_1.whenPressed(new Turn180());
+ //
+ // SpinRobot180_2 = new JoystickButton(leftJoystick,
+ // Constants.OI.SPIN2_PORT);
+ // SpinRobot180_2.whenPressed(new Turn180());
+ //
+ // compactRobot_1 = new JoystickButton(leftJoystick,
+ // Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
+ // compactRobot_2 = new JoystickButton(leftJoystick,
+ // Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
+ //
+ // intakeBoulder = new JoystickButton(rightJoystick,
+ // Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
+ // shootBoulder = new JoystickButton(rightJoystick,
+ // Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
+ //
+ // toggleScaling = new DigitalButton(
+ // new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
+ // toggleScaling.whenPressed(new ToggleScaling());
+ //
+ // if (!Constants.Scaler.SCALING) {
+ // toggleShooter.toggleWhenPressed(new runShooter());
+ // compactRobot_1.whenPressed(new CompactRobot());
+ // compactRobot_2.whenPressed(new CompactRobot());
+ //
+ // intakeBoulder.whenPressed(new IntakeBall());
+ // shootBoulder.whenPressed(new Shoot());
+ //
+ // } else {
+ // // toggleShooter becomes winch
+ // // compact robot button 1 and 2 retracts the lift
+ // // intake button stops the winch
+ // // shoot button extends the lift
+ // toggleShooter.whenPressed(new RunWinchContinuous(
+ // Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
+ // compactRobot_1.whenPressed(new RetractLift());
+ // compactRobot_2.whenPressed(new RetractLift());
+ //
+ // intakeBoulder.whenReleased(new StopWinch());
+ // shootBoulder.whenPressed(new ExtendLift());
+ // }