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.MaintainClimbedPosition;
   4 import org.usfirst.frc.team3501.robot.commands.climber.RunWinchContinuous;
   5 import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
   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
  15 import edu.wpi.first.wpilibj.Joystick;
  16 import edu.wpi.first.wpilibj.buttons.Button;
  17 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  18
  19 public class OI {
  20   private static OI oi;
  21   public static Joystick leftJoystick;
  22   public static Joystick rightJoystick;
  23   public static Button toggleWinch;
  24
  25   public static Button runIndexWheel;
  26   public static Button reverseIndexWheel;
  27   public static Button toggleFlyWheel;
  28
  29   public static Button toggleGear;
  30
  31   public static Button runIntake;
  32   public static Button reverseIntake;
  33
  34   public static Button increaseShooterSpeed;
  35   public static Button decreaseShooterSpeed;
  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(leftJoystick,
  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
  56     toggleGear.whenPressed(new ToggleGear());
  57
  58     runIntake = new JoystickButton(leftJoystick,
  59         Constants.OI.RUN_INTAKE_PORT);
  60     runIntake.whileHeld(new RunIntakeContinuous());
  61
  62     reverseIntake = new JoystickButton(leftJoystick,
  63         Constants.OI.REVERSE_INTAKE_PORT);
  64     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  65
  66     toggleWinch = new JoystickButton(leftJoystick,
  67         Constants.OI.TOGGLE_WINCH_PORT);
  68
  69     increaseShooterSpeed = new JoystickButton(leftJoystick,
  70         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  71     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  72
  73     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  74         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  75     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  76
  77     if (!isClimbing) {
  78       toggleWinch.whenPressed(new RunWinchContinuous());
  79       isClimbing = true;
  80     } else {
  81       toggleWinch.whenPressed(new MaintainClimbedPosition());
  82       isClimbing = false;
  83     }
  84
  85     /*
  86      * if (!Robot.getDriveTrain().isClimbing()) { toggleWinch.whenPressed(new
  87      * RunWinchContinuous()); Robot.getDriveTrain().setClimbing(true); } else {
  88      * toggleWinch.whenPressed(new MaintainClimbedPosition());
  89      * Robot.getDriveTrain().setClimbing(false); }
  90      */
  91     toggleWinch.whenPressed(new ToggleWinch());
  92
  93   }
  94
  95   public static OI getOI() {
  96     if (oi == null)
  97       oi = new OI();
  98     return oi;
  99   }
 100 }