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.driving.ToggleGear;
   6 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   7 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
   8 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  11
  12 import edu.wpi.first.wpilibj.Joystick;
  13 import edu.wpi.first.wpilibj.buttons.Button;
  14 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  15
  16 public class OI {
  17   private static OI oi;
  18   public static Joystick leftJoystick;
  19   public static Joystick rightJoystick;
  20   public static Button toggleWinch;
  21   private boolean isClimbing = false;
  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 OI() {
  33     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  34     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  35
  36     runIndexWheel = new JoystickButton(leftJoystick,
  37         Constants.OI.TOGGLE_INDEXWHEEL_PORT);
  38     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  39
  40     reverseIndexWheel = new JoystickButton(leftJoystick,
  41         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  42     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  43
  44     toggleFlyWheel = new JoystickButton(leftJoystick,
  45         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  46     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  47
  48     toggleGear = new JoystickButton(leftJoystick,
  49         Constants.OI.TOGGLE_GEAR_PORT);
  50     toggleGear.whenPressed(new ToggleGear());
  51
  52     runIntake = new JoystickButton(leftJoystick,
  53         Constants.OI.TOGGLE_INTAKE_PORT);
  54     runIntake.whileHeld(new RunIntakeContinuous());
  55
  56     reverseIntake = new JoystickButton(leftJoystick,
  57         Constants.OI.REVERSE_INTAKE_PORT);
  58     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  59
  60     toggleWinch = new JoystickButton(leftJoystick,
  61         Constants.OI.TOGGLE_WINCH_PORT);
  62     if (!isClimbing) {
  63       toggleWinch.whenPressed(new RunWinchContinuous());
  64       isClimbing = true;
  65     } else {
  66       toggleWinch.whenPressed(new MaintainClimbedPosition());
  67       isClimbing = false;
  68     }
  69   }
  70
  71   public static OI getOI() {
  72     if (oi == null)
  73       oi = new OI();
  74     return oi;
  75   }
  76 }