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.ToggleDrivePiston;
   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
  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 /* implements KeyListener */ {
  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   private static Button changeCam;
  38
  39   private static Button togglePiston;
  40   private static Button toggleDriveTrainPiston;
  41
  42   public OI() {
  43
  44     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  45     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  46
  47     runIndexWheel = new JoystickButton(rightJoystick,
  48         Constants.OI.RUN_INDEXWHEEL_PORT);
  49     runIndexWheel.whileHeld(
  50         new RunIndexWheelContinuous()); /*
  51                                          * { double shooterSpeed =
  52                                          * (Robot.getShooter()).getShooterRPM();
  53                                          * if (shooterSpeed > 0) {
  54                                          * Robot.getShooter().runIndexWheel(); }
  55                                          * });
  56                                          */
  57
  58     reverseIndexWheel = new JoystickButton(rightJoystick,
  59         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  60     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  61
  62     toggleFlyWheel = new JoystickButton(rightJoystick,
  63         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  64     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  65
  66     toggleGear = new JoystickButton(leftJoystick,
  67         Constants.OI.TOGGLE_GEAR_PORT);
  68     toggleGear.whenPressed(new ToggleGear());
  69
  70     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  71     runIntake.whileHeld(new RunIntakeContinuous());
  72
  73     reverseIntake = new JoystickButton(leftJoystick,
  74         Constants.OI.REVERSE_INTAKE_PORT);
  75     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  76
  77     toggleWinch = new JoystickButton(leftJoystick,
  78         Constants.OI.TOGGLE_WINCH_PORT);
  79     toggleWinch.whenPressed(new ToggleWinch());
  80
  81     increaseShooterSpeed = new JoystickButton(leftJoystick,
  82         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  83     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  84
  85     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  86         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  87     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  88
  89     /*
  90      * changeCam = new JoystickButton(rightJoystick,
  91      * Constants.OI.CHANGE_CAMERA_VIEW); changeCam.toggleWhenPressed(new
  92      * ChangeCameraView());
  93      */
  94
  95     togglePiston = new JoystickButton(rightJoystick,
  96         Constants.Shooter.TOGGLE_INDEXER);
  97     togglePiston.whenPressed(new ToggleIndexerPiston());
  98
  99     toggleDriveTrainPiston = new JoystickButton(rightJoystick,
 100         Constants.DriveTrain.TOGGLE_DRIVE_PISTON);
 101     toggleDriveTrainPiston.whenPressed(new ToggleDrivePiston());
 102   }
 103
 104   public static OI getOI() {
 105     if (oi == null)
 106       oi = new OI();
 107     return oi;
 108   }
 109
 110   /*
 111    * @Override public void keyPressed(KeyEvent e) { if (e.getKeyCode() ==
 112    * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
 113    * Robot.getShooter().runIndexWheel(); } }
 114    *
 115    * @Override public void keyReleased(KeyEvent e) { if (e.getKeyCode() ==
 116    * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
 117    * Robot.getShooter().stopIndexWheel(); } }
 118    *
 119    * @Override public void keyTyped(KeyEvent e) { }
 120    */
 121
 122 }