add hella auton

[ozzloy@gmail.com/3501-spark-go] / 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 0b8fa0755904bfe29ecefae66038f4e5e7bec95d..82c4217ab6229cc1dd87f966c5c72c2ed98ec013 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,9 +1,11 @@
 package org.usfirst.frc.team3501.robot;
 
+import java.util.Arrays;
+
 import org.usfirst.frc.team3501.robot.commands.*;
 
 public class OI {
-    public Joystick left, right;
+    private Joystick left, right;
 
     public OI() {
         left  = new Joystick(RobotMap.LEFT_JOYSTICK_PORT);
@@ -11,13 +13,37 @@ public class OI {
 
         right.whenPressed(1, new CloseClaw());
         right.whenReleased(1, new OpenClaw());
+
+        right.whenPressed(2, new ToggleClaw());
+
+        right.whenPressed(11, new TurnOffCompressor());
+        right.whenPressed(12, new TurnOffCompressor());
+
+        right.whenPressed(7, new TurnOnCompressor());
+        right.whenPressed(8, new TurnOnCompressor());
+
+        // potential bug point: this should "Just Work" because as soon as
+        // command stops running, left stick pos at 0 should take over...
+        // if that is not the case, arm will continue indefinitely.
+        left.whileHeld(7,  new TensionLeftWinch(RobotMap.ARM_ADJUST_SPEED));
+        left.whileHeld(6,  new TensionLeftWinch(-RobotMap.ARM_ADJUST_SPEED));
+        left.whileHeld(11, new TensionRightWinch(RobotMap.ARM_ADJUST_SPEED));
+        left.whileHeld(10, new TensionRightWinch(-RobotMap.ARM_ADJUST_SPEED));
     }
 
-    public double getForward() {
+    public double getForwardL() {
+        return left.getY();
+    }
+
+    public double getForwardR() {
         return right.getY();
     }
 
-    public double getTwist() {
+    public double getTwistR() {
         return right.getTwist();
     }
+
+    public boolean getRightPressed(int... buttons) {
+        return Arrays.stream(buttons).anyMatch(b -> right.get(b));
+    }
 }