X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FOI.java;h=491b71c61946103034c9841697e420dca814a5e8;hb=2781cca0354e26f8c5a6150d6b5179d300d479e1;hp=0bf9e3a4db2b4d82807d79441f9f4c1d469336a0;hpb=cb3389ebe0d39363292bfde20bb5345bd1e34253;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 0bf9e3a4..491b71c6 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,5 +1,20 @@
 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.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.scaler.ToggleScaling;
+import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
+
+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;
@@ -7,21 +22,98 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton;
 public class OI {
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
-  public static Button leftSilverButton;
-  public static Button rightSilverButton;
+
+  // 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;
+
+  // right joystick buttons
+  public static Button intakeBoulder;
+  public static Button shootBoulder;
+
+  // button to change robot to the scaling mode
+  public static DigitalButton toggleScaling;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    leftSilverButton = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_STICK_LEFT_SILVER_BUTTON);
-    ;
+    passPortcullis = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
+    passPortcullis.whenPressed(new PassPortcullis());
 
-    rightSilverButton = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_STICK_RIGHT_SILVER_BUTTON);
-    ;
+    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());
+
+    moveToIntakeBoulder = new DigitalButton(
+        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
 
+    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) {
+      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());
+    }
+  }
 }