package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot;
-import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise;
-import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge;
-import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis;
-import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
-import org.usfirst.frc.team3501.robot.commands.driving.Turn180;
-import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
-import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle;
-import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
-import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
-import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous;
-import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch;
+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.RunIntake;
+import org.usfirst.frc.team3501.robot.commands.intakearm.StopIntake;
import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
-import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
-import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
-import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.Button;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import edu.wpi.first.wpilibj.command.Scheduler;
public class OI {
- public static boolean isScalingMode = false;
- public static boolean isCompactRobot = false;
-
public static Joystick leftJoystick;
public static Joystick rightJoystick;
- // first column of arcade buttons - getting past defenses
- public static DigitalButton passPortcullis;
- public static DigitalButton passChevalDeFrise;
- public static DigitalButton passDrawbridge;
- public static DigitalButton passSallyPort;
-
- // second column of arcade buttons - different angles for intake arm
- // TO DO: change position numbers to angle values (?)
- public static DigitalButton lowerChevalDeFrise;
- public static DigitalButton moveToIntakeBoulder;
- public static DigitalButton poiseAboveChevalDeFrise;
- public static DigitalButton moveIntakeArmInsideRobot;
-
// left joystick buttons
- public static Button toggleShooter;
- public static Button SpinRobot180_1; // both do the same thing, just two
- public static Button SpinRobot180_2; // different buttons
- public static Button compactRobot_1;
- public static Button compactRobot_2;
+ public static Button gearTrigger;
// right joystick buttons
- public static Button intakeBoulder;
+ public static Button intakeTrigger;
public static Button shootBoulder;
-
- // button to change robot to the scaling mode
- public static DigitalButton toggleScalingMode;
+ public static Button toggleFront;
public OI() {
leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
- passPortcullis = new DigitalButton(
- new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
- passChevalDeFrise = new DigitalButton(
- new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
- passDrawbridge = new DigitalButton(
- new DigitalInput(Constants.OI.PASS_DRAWBRIDGE));
- passSallyPort = new DigitalButton(
- new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
-
- lowerChevalDeFrise = new DigitalButton(
- new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
- moveToIntakeBoulder = new DigitalButton(
- new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
- poiseAboveChevalDeFrise = new DigitalButton(
- new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
- moveIntakeArmInsideRobot = new DigitalButton(
- new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
-
- toggleShooter = new JoystickButton(leftJoystick,
+ // Left joystick
+ gearTrigger = new JoystickButton(leftJoystick,
Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
- SpinRobot180_1 = new JoystickButton(leftJoystick,
- Constants.OI.LEFT_JOYSTICK_TOP_LEFT_PORT);
- SpinRobot180_2 = new JoystickButton(leftJoystick,
- Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT);
- compactRobot_1 = new JoystickButton(leftJoystick,
- Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
- compactRobot_2 = new JoystickButton(leftJoystick,
- Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
+ gearTrigger.whenPressed(new SetHighGear());
+ gearTrigger.whenReleased(new SetLowGear());
- intakeBoulder = new JoystickButton(rightJoystick,
+ // Right joystick
+ intakeTrigger = new JoystickButton(rightJoystick,
Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
- shootBoulder = new JoystickButton(rightJoystick,
- Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
-
- toggleScalingMode = new DigitalButton(
- new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
+ intakeTrigger.whenPressed(new RunIntake());
+ intakeTrigger.whenReleased(new StopIntake());
- passPortcullis.whenPressed(new PassPortcullis());
- passChevalDeFrise.whenPressed(new PassChevalDeFrise());
- passDrawbridge.whenPressed(new PassDrawBridge());
- passSallyPort.whenPressed(new PassSallyPort());
-
- lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
- IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
- moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
- IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
- poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
- IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
- moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
- IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
-
- if (toggleScalingMode.get()) {
- if (!isScalingMode) {
- isScalingMode = true;
- if (!isCompactRobot) {
- Scheduler.getInstance().add(new CompactRobot());
- isCompactRobot = true;
- }
- } else if (isScalingMode) {
- isScalingMode = false;
- Scheduler.getInstance().add(new CompactRobot());
- }
- }
-
- if (!isScalingMode) {
- toggleShooter.toggleWhenPressed(new runShooter());
- compactRobot_1.whenPressed(new CompactRobot());
- compactRobot_2.whenPressed(new CompactRobot());
-
- intakeBoulder.whenPressed(new IntakeBall());
- shootBoulder.whenPressed(new Shoot());
-
- } else if (isScalingMode) {
- toggleShooter.whenPressed(new RunWinchContinuous(
- Constants.Scaler.WINCH_IN_SPEED));
- compactRobot_1.whenPressed(new RetractLift());
- compactRobot_2.whenPressed(new RetractLift());
-
- intakeBoulder.whenReleased(new StopWinch());
- shootBoulder.whenPressed(new ExtendLift());
- }
+ shootBoulder = new JoystickButton(rightJoystick,
+ Constants.OI.RIGHT_JOYSTICK_SHOOT_PORT);
+ shootBoulder.whenPressed(new Shoot());
- SpinRobot180_1.whenPressed(new Turn180());
- SpinRobot180_2.whenPressed(new Turn180());
+ toggleFront = new JoystickButton(rightJoystick,
+ Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
+ toggleFront.whenPressed(new ToggleFront());
}
}