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