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