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.climber.ToggleWinch;
   4 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
   5 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   6 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
   7 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
   8 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  12
  13 import edu.wpi.first.wpilibj.Joystick;
  14 import edu.wpi.first.wpilibj.buttons.Button;
  15 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  16
  17 public class OI {
  18   private static OI oi;
  19   public static Joystick leftJoystick;
  20   public static Joystick rightJoystick;
  21   public static Button toggleWinch;
  22
  23   public static Button runIndexWheel;
  24   public static Button reverseIndexWheel;
  25   public static Button toggleFlyWheel;
  26
  27   public static Button toggleGear;
  28
  29   public static Button runIntake;
  30   public static Button reverseIntake;
  31
  32   public static Button increaseShooterSpeed;
  33   public static Button decreaseShooterSpeed;
  34
  35   private static Button changeCam;
  36
  37   public OI() {
  38     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  39     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  40
  41     runIndexWheel = new JoystickButton(rightJoystick,
  42         Constants.OI.RUN_INDEXWHEEL_PORT);
  43     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  44
  45     reverseIndexWheel = new JoystickButton(rightJoystick,
  46         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  47     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  48
  49     toggleFlyWheel = new JoystickButton(rightJoystick,
  50         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  51     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  52
  53     toggleGear = new JoystickButton(leftJoystick,
  54         Constants.OI.TOGGLE_GEAR_PORT);
  55     toggleGear.whenPressed(new ToggleGear());
  56
  57     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  58     runIntake.whileHeld(new RunIntakeContinuous());
  59
  60     reverseIntake = new JoystickButton(leftJoystick,
  61         Constants.OI.REVERSE_INTAKE_PORT);
  62     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  63
  64     toggleWinch = new JoystickButton(leftJoystick,
  65         Constants.OI.TOGGLE_WINCH_PORT);
  66     toggleWinch.whenPressed(new ToggleWinch());
  67
  68     increaseShooterSpeed = new JoystickButton(leftJoystick,
  69         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  70     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  71
  72     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  73         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  74     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  75
  76     changeCam = new JoystickButton(rightJoystick,
  77         Constants.OI.CHANGE_CAMERA_VIEW);
  78     changeCam.toggleWhenPressed(new ChangeCameraView());
  79   }
  80
  81   public static OI getOI() {
  82     if (oi == null)
  83       oi = new OI();
  84     return oi;
  85   }
  86 }