| 1 | package org.usfirst.frc.team3501.robot; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.commands.climber.BrakeCANTalons; |
| 4 | import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons; |
| 5 | import org.usfirst.frc.team3501.robot.commands.climber.RunWinch; |
| 6 | import org.usfirst.frc.team3501.robot.commands.climber.StopWinch; |
| 7 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear; |
| 8 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear; |
| 9 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonHigh; |
| 10 | import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonLow; |
| 11 | import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous; |
| 12 | import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous; |
| 13 | import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed; |
| 14 | import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed; |
| 15 | import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed; |
| 16 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous; |
| 17 | import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous; |
| 18 | import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous; |
| 19 | import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous; |
| 20 | import org.usfirst.frc.team3501.robot.commands.shooter.StopFlyWheel; |
| 21 | |
| 22 | import edu.wpi.first.wpilibj.Joystick; |
| 23 | import edu.wpi.first.wpilibj.buttons.Button; |
| 24 | import edu.wpi.first.wpilibj.buttons.JoystickButton; |
| 25 | |
| 26 | public class OI { |
| 27 | private static OI oi; |
| 28 | public static Joystick xboxController; |
| 29 | // public static Joystick rightJoystick; |
| 30 | public static Joystick gamePad; |
| 31 | |
| 32 | public static Button runIndexWheel; |
| 33 | public static Button reverseIndexWheel; |
| 34 | public static Button runFlyWheel; |
| 35 | public static Button stopFlyWheel; |
| 36 | public static Button reverseFlyWheel; |
| 37 | |
| 38 | // public static Button toggleGear; |
| 39 | public static Button shiftHigh; |
| 40 | public static Button shiftLow; |
| 41 | |
| 42 | // public static Button toggleGearManipulatorPiston; |
| 43 | |
| 44 | public static Button runIntake; |
| 45 | public static Button reverseIntake; |
| 46 | |
| 47 | public static Button increaseShooterSpeed; |
| 48 | public static Button decreaseShooterSpeed; |
| 49 | public static Button resetShooterSpeed; |
| 50 | |
| 51 | public static Button brakeCANTalons; |
| 52 | public static Button coastCANTalons; |
| 53 | public static Button climb; |
| 54 | public static Button stopclimb; |
| 55 | |
| 56 | public static Button shiftGearManipulatorPistonHigh; |
| 57 | public static Button shiftGearManipulatorPistonLow; |
| 58 | |
| 59 | public OI() { |
| 60 | xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT); |
| 61 | // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); |
| 62 | gamePad = new Joystick(Constants.OI.GAME_PAD_PORT); |
| 63 | |
| 64 | runIndexWheel = new JoystickButton(xboxController, |
| 65 | Constants.OI.RUN_INDEXWHEEL_PORT); |
| 66 | runIndexWheel.whileHeld(new RunIndexWheelContinuous()); |
| 67 | |
| 68 | reverseIndexWheel = new JoystickButton(xboxController, |
| 69 | Constants.OI.REVERSE_INDEXWHEEL_PORT); |
| 70 | reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous()); |
| 71 | |
| 72 | runFlyWheel = new JoystickButton(gamePad, Constants.OI.RUN_FLYWHEEL_PORT); |
| 73 | runFlyWheel.whenPressed(new RunFlyWheelContinuous()); |
| 74 | |
| 75 | stopFlyWheel = new JoystickButton(gamePad, Constants.OI.STOP_FLYWHEEL_PORT); |
| 76 | stopFlyWheel.whenPressed(new StopFlyWheel()); |
| 77 | |
| 78 | reverseFlyWheel = new JoystickButton(gamePad, |
| 79 | Constants.OI.REVERSE_FLYWHEEL_PORT); |
| 80 | reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous()); |
| 81 | |
| 82 | shiftHigh = new JoystickButton(xboxController, |
| 83 | Constants.OI.SHIFT_HIGH_PORT); |
| 84 | shiftHigh.whenPressed(new ShiftDriveHighGear()); |
| 85 | |
| 86 | shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT); |
| 87 | shiftLow.whenPressed(new ShiftDriveLowGear()); |
| 88 | |
| 89 | /* |
| 90 | * toggleGearManipulatorPiston = new JoystickButton(gamePad, |
| 91 | * Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT); |
| 92 | * toggleGearManipulatorPiston.whenPressed(new |
| 93 | * ToggleGearManipulatorPiston()); |
| 94 | */ |
| 95 | |
| 96 | shiftGearManipulatorPistonHigh = new JoystickButton(gamePad, |
| 97 | Constants.OI.SHIFT_GEAR_MANIPULATOR_HIGH_PORT); |
| 98 | shiftGearManipulatorPistonHigh |
| 99 | .whenPressed(new ShiftGearManipulatorPistonHigh()); |
| 100 | |
| 101 | shiftGearManipulatorPistonLow = new JoystickButton(gamePad, |
| 102 | Constants.OI.SHIFT_GEAR_MANIPULATOR_LOW_PORT); |
| 103 | shiftGearManipulatorPistonLow |
| 104 | .whenPressed(new ShiftGearManipulatorPistonLow()); |
| 105 | |
| 106 | runIntake = new JoystickButton(xboxController, |
| 107 | Constants.OI.RUN_INTAKE_PORT); |
| 108 | runIntake.whileHeld(new RunIntakeContinuous()); |
| 109 | |
| 110 | reverseIntake = new JoystickButton(xboxController, |
| 111 | Constants.OI.REVERSE_INTAKE_PORT); |
| 112 | reverseIntake.whileHeld(new ReverseIntakeContinuous()); |
| 113 | |
| 114 | increaseShooterSpeed = new JoystickButton(gamePad, |
| 115 | Constants.OI.INCREASE_SHOOTER_SPEED_PORT); |
| 116 | increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed()); |
| 117 | |
| 118 | decreaseShooterSpeed = new JoystickButton(gamePad, |
| 119 | Constants.OI.DECREASE_SHOOTER_SPEED_PORT); |
| 120 | decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed()); |
| 121 | |
| 122 | resetShooterSpeed = new JoystickButton(gamePad, |
| 123 | Constants.OI.RESET_SHOOTER_SPEED_PORT); |
| 124 | resetShooterSpeed.whenPressed(new ResetShootingSpeed()); |
| 125 | |
| 126 | brakeCANTalons = new JoystickButton(xboxController, |
| 127 | Constants.OI.BRAKE_CANTALONS_PORT); |
| 128 | brakeCANTalons.whenPressed(new BrakeCANTalons()); |
| 129 | |
| 130 | coastCANTalons = new JoystickButton(xboxController, |
| 131 | Constants.OI.COAST_CANTALONS_PORT); |
| 132 | coastCANTalons.whenPressed(new CoastCANTalons()); |
| 133 | |
| 134 | climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT); |
| 135 | climb.whenPressed(new RunWinch()); |
| 136 | |
| 137 | stopclimb = new JoystickButton(xboxController, |
| 138 | Constants.OI.STOP_CLIMB_PORT); |
| 139 | stopclimb.whenPressed(new StopWinch()); |
| 140 | } |
| 141 | |
| 142 | public static OI getOI() { |
| 143 | if (oi == null) |
| 144 | oi = new OI(); |
| 145 | return oi; |
| 146 | } |
| 147 | } |