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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.commands.climber.BrakeCANTalons; |
4 | import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons; | |
ba9f0b12 | 5 | import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch; |
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6 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleDriveGear; |
7 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston; | |
cef1f36d RR |
8 | import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; |
9 | import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; | |
5e93f308 CZ |
10 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; |
11 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; | |
9ca89e45 | 12 | import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed; |
fc01fb0f | 13 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous; |
cef1f36d RR |
14 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous; |
15 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; | |
16 | import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous; | |
7935bf26 | 17 | |
38a404b3 | 18 | import edu.wpi.first.wpilibj.Joystick; |
de8c65d3 SG |
19 | import edu.wpi.first.wpilibj.buttons.Button; |
20 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
38a404b3 KZ |
21 | |
22 | public class OI { | |
cca02549 | 23 | private static OI oi; |
38a404b3 KZ |
24 | public static Joystick leftJoystick; |
25 | public static Joystick rightJoystick; | |
fc01fb0f | 26 | public static Joystick gamePad; |
38a404b3 | 27 | |
cef1f36d RR |
28 | public static Button runIndexWheel; |
29 | public static Button reverseIndexWheel; | |
2291f7b3 | 30 | public static Button toggleFlyWheel; |
fc01fb0f | 31 | public static Button reverseFlyWheel; |
2291f7b3 | 32 | |
7935bf26 | 33 | public static Button toggleGear; |
fc01fb0f | 34 | public static Button toggleGearManipulatorPiston; |
7935bf26 | 35 | |
cef1f36d RR |
36 | public static Button runIntake; |
37 | public static Button reverseIntake; | |
38 | ||
5e93f308 CZ |
39 | public static Button increaseShooterSpeed; |
40 | public static Button decreaseShooterSpeed; | |
9ca89e45 | 41 | public static Button resetShooterSpeed; |
5e93f308 | 42 | |
f56e6ebf CZ |
43 | public static Button brakeCANTalons; |
44 | public static Button coastCANTalons; | |
ba9f0b12 | 45 | public static Button climb; |
f56e6ebf | 46 | |
38a404b3 KZ |
47 | public OI() { |
48 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); | |
49 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
fc01fb0f | 50 | gamePad = new Joystick(Constants.OI.GAME_PAD_PORT); |
cef1f36d | 51 | |
5e93f308 CZ |
52 | runIndexWheel = new JoystickButton(rightJoystick, |
53 | Constants.OI.RUN_INDEXWHEEL_PORT); | |
cef1f36d RR |
54 | runIndexWheel.whileHeld(new RunIndexWheelContinuous()); |
55 | ||
aec45ad9 | 56 | reverseIndexWheel = new JoystickButton(rightJoystick, |
cef1f36d RR |
57 | Constants.OI.REVERSE_INDEXWHEEL_PORT); |
58 | reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); | |
59 | ||
fc01fb0f | 60 | toggleFlyWheel = new JoystickButton(gamePad, |
2291f7b3 | 61 | Constants.OI.TOGGLE_FLYWHEEL_PORT); |
cef1f36d RR |
62 | toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous()); |
63 | ||
fc01fb0f CZ |
64 | reverseFlyWheel = new JoystickButton(gamePad, |
65 | Constants.OI.REVERSE_FLYWHEEL_PORT); | |
66 | reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous()); | |
67 | ||
7935bf26 AD |
68 | toggleGear = new JoystickButton(leftJoystick, |
69 | Constants.OI.TOGGLE_GEAR_PORT); | |
fc01fb0f CZ |
70 | toggleGear.whenPressed(new ToggleDriveGear()); |
71 | ||
72 | toggleGearManipulatorPiston = new JoystickButton(gamePad, | |
73 | Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT); | |
74 | toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston()); | |
cef1f36d | 75 | |
aec45ad9 | 76 | runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT); |
cef1f36d RR |
77 | runIntake.whileHeld(new RunIntakeContinuous()); |
78 | ||
79 | reverseIntake = new JoystickButton(leftJoystick, | |
80 | Constants.OI.REVERSE_INTAKE_PORT); | |
81 | reverseIntake.whileHeld(new ReverseIntakeContinuous()); | |
82 | ||
fc01fb0f | 83 | increaseShooterSpeed = new JoystickButton(gamePad, |
5e93f308 CZ |
84 | Constants.OI.INCREASE_SHOOTER_SPEED_PORT); |
85 | increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed()); | |
86 | ||
fc01fb0f | 87 | decreaseShooterSpeed = new JoystickButton(gamePad, |
5e93f308 CZ |
88 | Constants.OI.DECREASE_SHOOTER_SPEED_PORT); |
89 | decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed()); | |
f56e6ebf | 90 | |
9ca89e45 CZ |
91 | resetShooterSpeed = new JoystickButton(gamePad, |
92 | Constants.OI.RESET_SHOOTER_SPEED_PORT); | |
93 | resetShooterSpeed.whenPressed(new ResetShootingSpeed()); | |
94 | ||
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95 | brakeCANTalons = new JoystickButton(rightJoystick, |
96 | Constants.OI.BRAKE_CANTALONS_PORT); | |
97 | brakeCANTalons.whenPressed(new BrakeCANTalons()); | |
98 | ||
99 | coastCANTalons = new JoystickButton(rightJoystick, | |
100 | Constants.OI.COAST_CANTALONS_PORT); | |
101 | coastCANTalons.whenPressed(new CoastCANTalons()); | |
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102 | |
103 | climb = new JoystickButton(leftJoystick, Constants.OI.CLIMB_PORT); | |
104 | climb.whenPressed(new ToggleWinch()); | |
38a404b3 | 105 | } |
cf086549 SG |
106 | |
107 | public static OI getOI() { | |
108 | if (oi == null) | |
109 | oi = new OI(); | |
110 | return oi; | |
cca02549 | 111 | } |
38a404b3 | 112 | } |