From 81787801b885967894927872f97dd402073a37a1 Mon Sep 17 00:00:00 2001 From: Trevor Date: Fri, 27 Jan 2017 18:44:37 -0800 Subject: [PATCH] worked on commands --- src/org/usfirst/frc/team3501/robot/OI.java | 52 +++++++++++++++++++++- 1 file changed, 51 insertions(+), 1 deletion(-) diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java index 935c4c6..92169fe 100644 --- a/src/org/usfirst/frc/team3501/robot/OI.java +++ b/src/org/usfirst/frc/team3501/robot/OI.java @@ -1,5 +1,14 @@ package org.usfirst.frc.team3501.robot; +import org.usfirst.frc.team3501.robot.commandgroups.PrepareToShoot; +import org.usfirst.frc.team3501.robot.commandgroups.Shoot; +import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear; +import org.usfirst.frc.team3501.robot.commands.driving.Turn90Left; +import org.usfirst.frc.team3501.robot.commands.driving.Turn90Right; +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.RunIndexWheelContinuous; + import edu.wpi.first.wpilibj.Joystick; import edu.wpi.first.wpilibj.buttons.Button; import edu.wpi.first.wpilibj.buttons.JoystickButton; @@ -8,12 +17,23 @@ public class OI { private static OI oi; public static Joystick leftJoystick; public static Joystick rightJoystick; - public static Button toggleWinch; + public static Button toggleWinch; public static Button toggleIndexWheel; public static Button toggleFlyWheel; + public static Button toggleIntake; + public static Button toggleReverseIntake; + public static Button toggleHighGear; + public static Button toggleNormalGear; + public static Button increaseShootSpeed; + public static Button decreaseShootSpeed; + public static Button turn90Right; + public static Button turn90Left; + public static Button readyShooter; + public static Button shootButton; public OI() { + System.out.println("OI is open"); leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); toggleWinch = new JoystickButton(leftJoystick, @@ -22,6 +42,36 @@ public class OI { Constants.OI.TOGGLE_INDEXWHEEL_PORT); toggleFlyWheel = new JoystickButton(leftJoystick, Constants.OI.TOGGLE_FLYWHEEL_PORT); + toggleIntake = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + toggleReverseIntake = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + toggleHighGear = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + toggleNormalGear = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + increaseShootSpeed = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + decreaseShootSpeed = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + turn90Right = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + turn90Left = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + readyShooter = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + shootButton = new JoystickButton(leftJoystick, + Constants.OI.TOGGLE_FLYWHEEL_PORT); + + toggleIndexWheel.whenPressed(new RunIndexWheelContinuous(1)); + toggleHighGear.whenPressed(new ToggleGear()); + toggleNormalGear.whenPressed(new ToggleGear()); + increaseShootSpeed.whenPressed(new IncreaseShootingSpeed()); + decreaseShootSpeed.whenPressed(new DecreaseShootingSpeed()); + turn90Right.whenPressed(new Turn90Right()); + turn90Left.whenPressed(new Turn90Left()); + readyShooter.whenPressed(new PrepareToShoot()); + shootButton.whenPressed(new Shoot()); } public static OI getOI() { -- 2.30.2