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=aa58ffccde0c62a84520a6426eeaf1a3154be266;hpb=eab4ce91ee0047cbb42f89c79d9cb219467bdb41;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 aa58ffcc..491b71c6 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -7,15 +7,12 @@ 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.scaler.ToggleScaling;
 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;
@@ -73,34 +70,15 @@ public class OI {
         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 = new JoystickButton(leftJoystick, Constants.OI.SPIN1_PORT);
     SpinRobot180_1.whenPressed(new Turn180());
 
-    SpinRobot180_2 = new JoystickButton(leftJoystick,
-        Constants.OI.SPIN2_PORT);
+    SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT);
     SpinRobot180_2.whenPressed(new Turn180());
 
     compactRobot_1 = new JoystickButton(leftJoystick,
@@ -118,7 +96,6 @@ public class OI {
     toggleScaling.whenPressed(new ToggleScaling());
 
     if (!Constants.Scaler.SCALING) {
-      toggleShooter.toggleWhenPressed(new runShooter());
       compactRobot_1.whenPressed(new CompactRobot());
       compactRobot_2.whenPressed(new CompactRobot());