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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
9dc69158 | 3 | import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch; |
49b8e933 | 4 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleDrivePiston; |
7935bf26 | 5 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear; |
cef1f36d RR |
6 | import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; |
7 | import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; | |
5e93f308 CZ |
8 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; |
9 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; | |
cef1f36d RR |
10 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous; |
11 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; | |
12 | import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous; | |
49b8e933 | 13 | import org.usfirst.frc.team3501.robot.commands.shooter.ToggleIndexerPiston; |
7935bf26 | 14 | |
38a404b3 | 15 | import edu.wpi.first.wpilibj.Joystick; |
de8c65d3 SG |
16 | import edu.wpi.first.wpilibj.buttons.Button; |
17 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
38a404b3 | 18 | |
49b8e933 | 19 | public class OI /* implements KeyListener */ { |
cca02549 | 20 | private static OI oi; |
38a404b3 KZ |
21 | public static Joystick leftJoystick; |
22 | public static Joystick rightJoystick; | |
83fa645c | 23 | public static Button toggleWinch; |
38a404b3 | 24 | |
cef1f36d RR |
25 | public static Button runIndexWheel; |
26 | public static Button reverseIndexWheel; | |
2291f7b3 | 27 | public static Button toggleFlyWheel; |
28 | ||
7935bf26 AD |
29 | public static Button toggleGear; |
30 | ||
cef1f36d RR |
31 | public static Button runIntake; |
32 | public static Button reverseIntake; | |
33 | ||
5e93f308 CZ |
34 | public static Button increaseShooterSpeed; |
35 | public static Button decreaseShooterSpeed; | |
36 | ||
ee1a8006 RR |
37 | private static Button changeCam; |
38 | ||
49b8e933 RR |
39 | private static Button togglePiston; |
40 | private static Button toggleDriveTrainPiston; | |
41 | ||
38a404b3 | 42 | public OI() { |
49b8e933 | 43 | |
38a404b3 KZ |
44 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); |
45 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
cef1f36d | 46 | |
5e93f308 CZ |
47 | runIndexWheel = new JoystickButton(rightJoystick, |
48 | Constants.OI.RUN_INDEXWHEEL_PORT); | |
49b8e933 RR |
49 | runIndexWheel.whileHeld( |
50 | new RunIndexWheelContinuous()); /* | |
51 | * { double shooterSpeed = | |
52 | * (Robot.getShooter()).getShooterRPM(); | |
53 | * if (shooterSpeed > 0) { | |
54 | * Robot.getShooter().runIndexWheel(); } | |
55 | * }); | |
56 | */ | |
cef1f36d | 57 | |
aec45ad9 | 58 | reverseIndexWheel = new JoystickButton(rightJoystick, |
cef1f36d RR |
59 | Constants.OI.REVERSE_INDEXWHEEL_PORT); |
60 | reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); | |
61 | ||
5e93f308 | 62 | toggleFlyWheel = new JoystickButton(rightJoystick, |
2291f7b3 | 63 | Constants.OI.TOGGLE_FLYWHEEL_PORT); |
cef1f36d RR |
64 | toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous()); |
65 | ||
7935bf26 AD |
66 | toggleGear = new JoystickButton(leftJoystick, |
67 | Constants.OI.TOGGLE_GEAR_PORT); | |
68 | toggleGear.whenPressed(new ToggleGear()); | |
cef1f36d | 69 | |
aec45ad9 | 70 | runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT); |
cef1f36d RR |
71 | runIntake.whileHeld(new RunIntakeContinuous()); |
72 | ||
73 | reverseIntake = new JoystickButton(leftJoystick, | |
74 | Constants.OI.REVERSE_INTAKE_PORT); | |
75 | reverseIntake.whileHeld(new ReverseIntakeContinuous()); | |
76 | ||
77 | toggleWinch = new JoystickButton(leftJoystick, | |
78 | Constants.OI.TOGGLE_WINCH_PORT); | |
25ef99e6 | 79 | toggleWinch.whenPressed(new ToggleWinch()); |
5e93f308 CZ |
80 | |
81 | increaseShooterSpeed = new JoystickButton(leftJoystick, | |
82 | Constants.OI.INCREASE_SHOOTER_SPEED_PORT); | |
83 | increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed()); | |
84 | ||
85 | decreaseShooterSpeed = new JoystickButton(leftJoystick, | |
86 | Constants.OI.DECREASE_SHOOTER_SPEED_PORT); | |
87 | decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed()); | |
ee1a8006 | 88 | |
49b8e933 RR |
89 | /* |
90 | * changeCam = new JoystickButton(rightJoystick, | |
91 | * Constants.OI.CHANGE_CAMERA_VIEW); changeCam.toggleWhenPressed(new | |
92 | * ChangeCameraView()); | |
93 | */ | |
94 | ||
95 | togglePiston = new JoystickButton(rightJoystick, | |
96 | Constants.Shooter.TOGGLE_INDEXER); | |
97 | togglePiston.whenPressed(new ToggleIndexerPiston()); | |
98 | ||
99 | toggleDriveTrainPiston = new JoystickButton(rightJoystick, | |
100 | Constants.DriveTrain.TOGGLE_DRIVE_PISTON); | |
101 | toggleDriveTrainPiston.whenPressed(new ToggleDrivePiston()); | |
38a404b3 | 102 | } |
cf086549 SG |
103 | |
104 | public static OI getOI() { | |
105 | if (oi == null) | |
106 | oi = new OI(); | |
107 | return oi; | |
cca02549 | 108 | } |
99930d53 | 109 | |
49b8e933 RR |
110 | /* |
111 | * @Override public void keyPressed(KeyEvent e) { if (e.getKeyCode() == | |
112 | * KeyEvent.VK_Z) { // Robot.swapCameraFeed(); | |
113 | * Robot.getShooter().runIndexWheel(); } } | |
114 | * | |
115 | * @Override public void keyReleased(KeyEvent e) { if (e.getKeyCode() == | |
116 | * KeyEvent.VK_Z) { // Robot.swapCameraFeed(); | |
117 | * Robot.getShooter().stopIndexWheel(); } } | |
118 | * | |
119 | * @Override public void keyTyped(KeyEvent e) { } | |
120 | */ | |
99930d53 | 121 | |
38a404b3 | 122 | } |