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.BrakeCANTalons;
   4 import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons;
   5 import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
   6 import org.usfirst.frc.team3501.robot.commands.driving.ToggleDriveGear;
   7 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston;
   8 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   9 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  12 import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous;
  14 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  15 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  16 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  17
  18 import edu.wpi.first.wpilibj.Joystick;
  19 import edu.wpi.first.wpilibj.buttons.Button;
  20 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  21
  22 public class OI {
  23   private static OI oi;
  24   public static Joystick leftJoystick;
  25   public static Joystick rightJoystick;
  26   public static Joystick gamePad;
  27
  28   public static Button runIndexWheel;
  29   public static Button reverseIndexWheel;
  30   public static Button toggleFlyWheel;
  31   public static Button reverseFlyWheel;
  32
  33   public static Button toggleGear;
  34   public static Button toggleGearManipulatorPiston;
  35
  36   public static Button runIntake;
  37   public static Button reverseIntake;
  38
  39   public static Button increaseShooterSpeed;
  40   public static Button decreaseShooterSpeed;
  41   public static Button resetShooterSpeed;
  42
  43   public static Button brakeCANTalons;
  44   public static Button coastCANTalons;
  45   public static Button climb;
  46
  47   public OI() {
  48     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  49     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  50     gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
  51
  52     runIndexWheel = new JoystickButton(rightJoystick,
  53         Constants.OI.RUN_INDEXWHEEL_PORT);
  54     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  55
  56     reverseIndexWheel = new JoystickButton(rightJoystick,
  57         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  58     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  59
  60     toggleFlyWheel = new JoystickButton(gamePad,
  61         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  62     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  63
  64     reverseFlyWheel = new JoystickButton(gamePad,
  65         Constants.OI.REVERSE_FLYWHEEL_PORT);
  66     reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
  67
  68     toggleGear = new JoystickButton(leftJoystick,
  69         Constants.OI.TOGGLE_GEAR_PORT);
  70     toggleGear.whenPressed(new ToggleDriveGear());
  71
  72     toggleGearManipulatorPiston = new JoystickButton(gamePad,
  73         Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
  74     toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston());
  75
  76     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  77     runIntake.whileHeld(new RunIntakeContinuous());
  78
  79     reverseIntake = new JoystickButton(leftJoystick,
  80         Constants.OI.REVERSE_INTAKE_PORT);
  81     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  82
  83     increaseShooterSpeed = new JoystickButton(gamePad,
  84         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  85     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  86
  87     decreaseShooterSpeed = new JoystickButton(gamePad,
  88         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  89     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  90
  91     resetShooterSpeed = new JoystickButton(gamePad,
  92         Constants.OI.RESET_SHOOTER_SPEED_PORT);
  93     resetShooterSpeed.whenPressed(new ResetShootingSpeed());
  94
  95     brakeCANTalons = new JoystickButton(rightJoystick,
  96         Constants.OI.BRAKE_CANTALONS_PORT);
  97     brakeCANTalons.whenPressed(new BrakeCANTalons());
  98
  99     coastCANTalons = new JoystickButton(rightJoystick,
 100         Constants.OI.COAST_CANTALONS_PORT);
 101     coastCANTalons.whenPressed(new CoastCANTalons());
 102
 103     climb = new JoystickButton(leftJoystick, Constants.OI.CLIMB_PORT);
 104     climb.whenPressed(new ToggleWinch());
 105   }
 106
 107   public static OI getOI() {
 108     if (oi == null)
 109       oi = new OI();
 110     return oi;
 111   }
 112 }