bugfixes

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / OI.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 17889c7073c21796465fa0294b3c3f057a7ec139..0acc3c8067067d572ee34a525ce9fad7f4115fdc 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,7 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.ChangeShooterSpeed;
-import org.usfirst.frc.team3501.robot.commands.SetShooterSpeed;
+import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ToggleFront;
+import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
+import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntake;
+import org.usfirst.frc.team3501.robot.commands.shooter.FireCatapult;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -10,29 +15,79 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton;
 public class OI {
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
-  public static Button decrementShooterSpeed;
-  public static Button incrementShooterSpeed;
-  public static Button outputCurrentShooterSpeed;
-  public static Button trigger;
+
+  // left joystick buttons
+  public static Button gearShift;
+  public static Button extendIntake1;
+  public static Button extendIntake2;
+  public static Button retractIntake1;
+  public static Button retractIntake2;
+  public static Button toggleFront;
+
+  // right joystick buttons
+  public static Button intake;
+  public static Button outtake1;
+  public static Button outtake2;
+  public static Button shooterUp;
+  public static Button shooterDown1;
+  public static Button shooterDown2;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    decrementShooterSpeed = new JoystickButton(rightJoystick,
-        Constants.OI.DEC_SHOOTER_SPD_PORT);
-    decrementShooterSpeed.whenPressed(new ChangeShooterSpeed(-0.1));
+    // Left joystick
+    gearShift = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_GEAR_SHIFT_PORT);
+    gearShift.whenPressed(new SetLowGear());
+    gearShift.whenReleased(new SetHighGear());
+
+    extendIntake1 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT);
+    extendIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
+
+    extendIntake2 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT);
+    extendIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
+
+    retractIntake1 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT);
+    retractIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
+
+    retractIntake2 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT);
+    retractIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
+
+    toggleFront = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TOGGLE_FRONT_PORT);
+    toggleFront.whenPressed(new ToggleFront());
+
+    // Right joystick
+    intake = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
+    intake.whenPressed(new RunIntake(Constants.IntakeArm.IN));
+    intake.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
+
+    outtake1 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
+    outtake1.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+    outtake1.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
 
-    incrementShooterSpeed = new JoystickButton(rightJoystick,
-        Constants.OI.INC_SHOOTER_SPD_PORT);
-    incrementShooterSpeed.whenPressed(new ChangeShooterSpeed(0.1));
+    outtake2 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
+    outtake2.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+    outtake2.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
 
-    outputCurrentShooterSpeed = new JoystickButton(rightJoystick,
-        Constants.OI.SHOOT_PORT);
+    shooterUp = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);
+    shooterUp.whenPressed(new FireCatapult());
 
-    trigger = new JoystickButton(rightJoystick, Constants.OI.TRIGGER_PORT);
-    trigger.whenPressed(new SetShooterSpeed(0.5));
-    trigger.whenReleased(new SetShooterSpeed(0.0));
+    shooterDown1 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT);
+    shooterDown1.whenPressed(new ResetCatapult());
 
+    shooterDown2 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT);
+    shooterDown2.whenPressed(new ResetCatapult());
   }
 }