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1 | package org.usfirst.frc.team3501.robot; |
2 | ||
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3 | import org.usfirst.frc.team3501.robot.commands.driving.BrakeCANTalons; |
4 | import org.usfirst.frc.team3501.robot.commands.driving.CoastCANTalons; | |
7935bf26 | 5 | import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear; |
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6 | import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; |
7 | import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; | |
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8 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; |
9 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; | |
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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; | |
7935bf26 | 13 | |
38a404b3 | 14 | import edu.wpi.first.wpilibj.Joystick; |
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15 | import edu.wpi.first.wpilibj.buttons.Button; |
16 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
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17 | |
18 | public class OI { | |
cca02549 | 19 | private static OI oi; |
38a404b3 KZ |
20 | public static Joystick leftJoystick; |
21 | public static Joystick rightJoystick; | |
22 | ||
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23 | public static Button runIndexWheel; |
24 | public static Button reverseIndexWheel; | |
2291f7b3 | 25 | public static Button toggleFlyWheel; |
26 | ||
7935bf26 AD |
27 | public static Button toggleGear; |
28 | ||
cef1f36d RR |
29 | public static Button runIntake; |
30 | public static Button reverseIntake; | |
31 | ||
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32 | public static Button increaseShooterSpeed; |
33 | public static Button decreaseShooterSpeed; | |
34 | ||
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35 | public static Button brakeCANTalons; |
36 | public static Button coastCANTalons; | |
37 | ||
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38 | public OI() { |
39 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); | |
40 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
cef1f36d | 41 | |
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42 | runIndexWheel = new JoystickButton(rightJoystick, |
43 | Constants.OI.RUN_INDEXWHEEL_PORT); | |
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44 | runIndexWheel.whileHeld(new RunIndexWheelContinuous()); |
45 | ||
aec45ad9 | 46 | reverseIndexWheel = new JoystickButton(rightJoystick, |
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47 | Constants.OI.REVERSE_INDEXWHEEL_PORT); |
48 | reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); | |
49 | ||
5e93f308 | 50 | toggleFlyWheel = new JoystickButton(rightJoystick, |
2291f7b3 | 51 | Constants.OI.TOGGLE_FLYWHEEL_PORT); |
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52 | toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous()); |
53 | ||
7935bf26 AD |
54 | toggleGear = new JoystickButton(leftJoystick, |
55 | Constants.OI.TOGGLE_GEAR_PORT); | |
56 | toggleGear.whenPressed(new ToggleGear()); | |
cef1f36d | 57 | |
aec45ad9 | 58 | runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT); |
cef1f36d RR |
59 | runIntake.whileHeld(new RunIntakeContinuous()); |
60 | ||
61 | reverseIntake = new JoystickButton(leftJoystick, | |
62 | Constants.OI.REVERSE_INTAKE_PORT); | |
63 | reverseIntake.whileHeld(new ReverseIntakeContinuous()); | |
64 | ||
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65 | increaseShooterSpeed = new JoystickButton(leftJoystick, |
66 | Constants.OI.INCREASE_SHOOTER_SPEED_PORT); | |
67 | increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed()); | |
68 | ||
69 | decreaseShooterSpeed = new JoystickButton(leftJoystick, | |
70 | Constants.OI.DECREASE_SHOOTER_SPEED_PORT); | |
71 | decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed()); | |
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72 | |
73 | brakeCANTalons = new JoystickButton(rightJoystick, | |
74 | Constants.OI.BRAKE_CANTALONS_PORT); | |
75 | brakeCANTalons.whenPressed(new BrakeCANTalons()); | |
76 | ||
77 | coastCANTalons = new JoystickButton(rightJoystick, | |
78 | Constants.OI.COAST_CANTALONS_PORT); | |
79 | coastCANTalons.whenPressed(new CoastCANTalons()); | |
38a404b3 | 80 | } |
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81 | |
82 | public static OI getOI() { | |
83 | if (oi == null) | |
84 | oi = new OI(); | |
85 | return oi; | |
cca02549 | 86 | } |
38a404b3 | 87 | } |