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