challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/OI.java

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