X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FOI.java;h=d2ab6747ddd546d1204c1e1ec0d7e5c1784716cd;hb=f74d236db406193b851bff99e4daec7b7abf35e7;hp=32ec06253e7be998195641cdaf87c114c52f935d;hpb=cef1f36da71950bc32d74d2ba0477a51f478f209;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 32ec062..d2ab674 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,13 +1,23 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.climber.MaintainClimbedPosition;
-import org.usfirst.frc.team3501.robot.commands.climber.RunWinchContinuous;
-import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
+import org.usfirst.frc.team3501.robot.commands.climber.BrakeCANTalons;
+import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons;
+import org.usfirst.frc.team3501.robot.commands.climber.RunWinch;
+import org.usfirst.frc.team3501.robot.commands.climber.StopWinch;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonHigh;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonLow;
 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
+import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
+import org.usfirst.frc.team3501.robot.commands.shooter.StopFlyWheel;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -15,57 +25,118 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class OI {
   private static OI oi;
-  public static Joystick leftJoystick;
-  public static Joystick rightJoystick;
-  public static Button toggleWinch;
-  private boolean isClimbing = false;
+  public static Joystick xboxController;
+  // public static Joystick rightJoystick;
+  public static Joystick gamePad;
 
   public static Button runIndexWheel;
   public static Button reverseIndexWheel;
-  public static Button toggleFlyWheel;
+  public static Button runFlyWheel;
+  public static Button stopFlyWheel;
+  public static Button reverseFlyWheel;
 
-  public static Button toggleGear;
+  // public static Button toggleGear;
+  public static Button shiftHigh;
+  public static Button shiftLow;
+
+  // public static Button toggleGearManipulatorPiston;
 
   public static Button runIntake;
   public static Button reverseIntake;
 
+  public static Button increaseShooterSpeed;
+  public static Button decreaseShooterSpeed;
+  public static Button resetShooterSpeed;
+
+  public static Button brakeCANTalons;
+  public static Button coastCANTalons;
+  public static Button climb;
+  public static Button stopclimb;
+
+  public static Button shiftGearManipulatorPistonHigh;
+  public static Button shiftGearManipulatorPistonLow;
+
   public OI() {
-    leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
-    rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
+    xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT);
+    // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
+    gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
 
-    runIndexWheel = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_INDEXWHEEL_PORT);
+    runIndexWheel = new JoystickButton(xboxController,
+        Constants.OI.RUN_INDEXWHEEL_PORT);
     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
 
-    reverseIndexWheel = new JoystickButton(leftJoystick,
+    reverseIndexWheel = new JoystickButton(xboxController,
         Constants.OI.REVERSE_INDEXWHEEL_PORT);
     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
 
-    toggleFlyWheel = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_FLYWHEEL_PORT);
-    toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
+    runFlyWheel = new JoystickButton(gamePad, Constants.OI.RUN_FLYWHEEL_PORT);
+    runFlyWheel.whenPressed(new RunFlyWheelContinuous());
+
+    stopFlyWheel = new JoystickButton(gamePad, Constants.OI.STOP_FLYWHEEL_PORT);
+    stopFlyWheel.whenPressed(new StopFlyWheel());
+
+    reverseFlyWheel = new JoystickButton(gamePad,
+        Constants.OI.REVERSE_FLYWHEEL_PORT);
+    reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
+
+    shiftHigh = new JoystickButton(xboxController,
+        Constants.OI.SHIFT_HIGH_PORT);
+    shiftHigh.whenPressed(new ShiftDriveHighGear());
+
+    shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT);
+    shiftLow.whenPressed(new ShiftDriveLowGear());
 
-    toggleGear = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_GEAR_PORT);
-    toggleGear.whenPressed(new ToggleGear());
+    /*
+     * toggleGearManipulatorPiston = new JoystickButton(gamePad,
+     * Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
+     * toggleGearManipulatorPiston.whenPressed(new
+     * ToggleGearManipulatorPiston());
+     */
 
-    runIntake = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_INTAKE_PORT);
+    shiftGearManipulatorPistonHigh = new JoystickButton(gamePad,
+        Constants.OI.SHIFT_GEAR_MANIPULATOR_HIGH_PORT);
+    shiftGearManipulatorPistonHigh
+        .whenPressed(new ShiftGearManipulatorPistonHigh());
+
+    shiftGearManipulatorPistonLow = new JoystickButton(gamePad,
+        Constants.OI.SHIFT_GEAR_MANIPULATOR_LOW_PORT);
+    shiftGearManipulatorPistonLow
+        .whenPressed(new ShiftGearManipulatorPistonLow());
+
+    runIntake = new JoystickButton(xboxController,
+        Constants.OI.RUN_INTAKE_PORT);
     runIntake.whileHeld(new RunIntakeContinuous());
 
-    reverseIntake = new JoystickButton(leftJoystick,
+    reverseIntake = new JoystickButton(xboxController,
         Constants.OI.REVERSE_INTAKE_PORT);
     reverseIntake.whileHeld(new ReverseIntakeContinuous());
 
-    toggleWinch = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_WINCH_PORT);
-    if (!isClimbing) {
-      toggleWinch.whenPressed(new RunWinchContinuous());
-      isClimbing = true;
-    } else {
-      toggleWinch.whenPressed(new MaintainClimbedPosition());
-      isClimbing = false;
-    }
+    increaseShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
+    increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
+
+    decreaseShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
+    decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
+
+    resetShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.RESET_SHOOTER_SPEED_PORT);
+    resetShooterSpeed.whenPressed(new ResetShootingSpeed());
+
+    brakeCANTalons = new JoystickButton(xboxController,
+        Constants.OI.BRAKE_CANTALONS_PORT);
+    brakeCANTalons.whenPressed(new BrakeCANTalons());
+
+    coastCANTalons = new JoystickButton(xboxController,
+        Constants.OI.COAST_CANTALONS_PORT);
+    coastCANTalons.whenPressed(new CoastCANTalons());
+
+    climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
+    climb.whenPressed(new RunWinch());
+
+    stopclimb = new JoystickButton(xboxController,
+        Constants.OI.STOP_CLIMB_PORT);
+    stopclimb.whenPressed(new StopWinch());
   }
 
   public static OI getOI() {