Commit | Line | Data |
---|---|---|
38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
150f450f CZ |
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; |
8275a069 RR |
6 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear; |
7 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear; | |
fc01fb0f | 8 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston; |
cef1f36d RR |
9 | import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; |
10 | import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; | |
5e93f308 CZ |
11 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; |
12 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; | |
9ca89e45 | 13 | import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed; |
fc01fb0f | 14 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous; |
cef1f36d RR |
15 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous; |
16 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; | |
17 | import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous; | |
7935bf26 | 18 | |
38a404b3 | 19 | import edu.wpi.first.wpilibj.Joystick; |
de8c65d3 SG |
20 | import edu.wpi.first.wpilibj.buttons.Button; |
21 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
38a404b3 KZ |
22 | |
23 | public class OI { | |
cca02549 | 24 | private static OI oi; |
8275a069 RR |
25 | public static Joystick xboxController; |
26 | // public static Joystick rightJoystick; | |
fc01fb0f | 27 | public static Joystick gamePad; |
38a404b3 | 28 | |
cef1f36d RR |
29 | public static Button runIndexWheel; |
30 | public static Button reverseIndexWheel; | |
2291f7b3 | 31 | public static Button toggleFlyWheel; |
fc01fb0f | 32 | public static Button reverseFlyWheel; |
2291f7b3 | 33 | |
8275a069 RR |
34 | // public static Button toggleGear; |
35 | public static Button shiftHigh; | |
36 | public static Button shiftLow; | |
37 | ||
fc01fb0f | 38 | public static Button toggleGearManipulatorPiston; |
7935bf26 | 39 | |
cef1f36d RR |
40 | public static Button runIntake; |
41 | public static Button reverseIntake; | |
42 | ||
5e93f308 CZ |
43 | public static Button increaseShooterSpeed; |
44 | public static Button decreaseShooterSpeed; | |
9ca89e45 | 45 | public static Button resetShooterSpeed; |
5e93f308 | 46 | |
f56e6ebf CZ |
47 | public static Button brakeCANTalons; |
48 | public static Button coastCANTalons; | |
ba9f0b12 | 49 | public static Button climb; |
f56e6ebf | 50 | |
38a404b3 | 51 | public OI() { |
8275a069 RR |
52 | xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT); |
53 | // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
fc01fb0f | 54 | gamePad = new Joystick(Constants.OI.GAME_PAD_PORT); |
cef1f36d | 55 | |
8275a069 | 56 | runIndexWheel = new JoystickButton(xboxController, |
5e93f308 | 57 | Constants.OI.RUN_INDEXWHEEL_PORT); |
cef1f36d RR |
58 | runIndexWheel.whileHeld(new RunIndexWheelContinuous()); |
59 | ||
8275a069 | 60 | reverseIndexWheel = new JoystickButton(xboxController, |
cef1f36d RR |
61 | Constants.OI.REVERSE_INDEXWHEEL_PORT); |
62 | reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); | |
63 | ||
fc01fb0f | 64 | toggleFlyWheel = new JoystickButton(gamePad, |
2291f7b3 | 65 | Constants.OI.TOGGLE_FLYWHEEL_PORT); |
cef1f36d RR |
66 | toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous()); |
67 | ||
fc01fb0f CZ |
68 | reverseFlyWheel = new JoystickButton(gamePad, |
69 | Constants.OI.REVERSE_FLYWHEEL_PORT); | |
70 | reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous()); | |
71 | ||
8275a069 RR |
72 | // toggleGear = new JoystickButton(xboxController, |
73 | // Constants.OI.TOGGLE_GEAR_PORT); | |
74 | // toggleGear.whenPressed(new ToggleDriveGear()); | |
75 | ||
76 | shiftHigh = new JoystickButton(xboxController, | |
77 | Constants.OI.SHIFT_HIGH_PORT); | |
78 | shiftHigh.whenPressed(new ShiftDriveHighGear()); | |
79 | ||
80 | shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT); | |
81 | shiftLow.whenPressed(new ShiftDriveLowGear()); | |
fc01fb0f CZ |
82 | |
83 | toggleGearManipulatorPiston = new JoystickButton(gamePad, | |
84 | Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT); | |
85 | toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston()); | |
cef1f36d | 86 | |
8275a069 RR |
87 | runIntake = new JoystickButton(xboxController, |
88 | Constants.OI.RUN_INTAKE_PORT); | |
cef1f36d RR |
89 | runIntake.whileHeld(new RunIntakeContinuous()); |
90 | ||
8275a069 | 91 | reverseIntake = new JoystickButton(xboxController, |
cef1f36d RR |
92 | Constants.OI.REVERSE_INTAKE_PORT); |
93 | reverseIntake.whileHeld(new ReverseIntakeContinuous()); | |
94 | ||
fc01fb0f | 95 | increaseShooterSpeed = new JoystickButton(gamePad, |
5e93f308 CZ |
96 | Constants.OI.INCREASE_SHOOTER_SPEED_PORT); |
97 | increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed()); | |
98 | ||
fc01fb0f | 99 | decreaseShooterSpeed = new JoystickButton(gamePad, |
5e93f308 CZ |
100 | Constants.OI.DECREASE_SHOOTER_SPEED_PORT); |
101 | decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed()); | |
f56e6ebf | 102 | |
9ca89e45 CZ |
103 | resetShooterSpeed = new JoystickButton(gamePad, |
104 | Constants.OI.RESET_SHOOTER_SPEED_PORT); | |
105 | resetShooterSpeed.whenPressed(new ResetShootingSpeed()); | |
106 | ||
8275a069 | 107 | brakeCANTalons = new JoystickButton(xboxController, |
f56e6ebf CZ |
108 | Constants.OI.BRAKE_CANTALONS_PORT); |
109 | brakeCANTalons.whenPressed(new BrakeCANTalons()); | |
110 | ||
8275a069 | 111 | coastCANTalons = new JoystickButton(xboxController, |
f56e6ebf CZ |
112 | Constants.OI.COAST_CANTALONS_PORT); |
113 | coastCANTalons.whenPressed(new CoastCANTalons()); | |
ba9f0b12 | 114 | |
8275a069 | 115 | climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT); |
ba9f0b12 | 116 | climb.whenPressed(new ToggleWinch()); |
38a404b3 | 117 | } |
cf086549 SG |
118 | |
119 | public static OI getOI() { | |
120 | if (oi == null) | |
121 | oi = new OI(); | |
122 | return oi; | |
cca02549 | 123 | } |
38a404b3 | 124 | } |