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.ToggleGear;
   4 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   5 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
   6 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
   7 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
   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 import org.usfirst.frc.team3501.robot.commands.shooter.ToggleIndexerPiston;
  12 import org.usfirst.frc.team3501.robot.utils.ChangeCameraView;
  13
  14 import edu.wpi.first.wpilibj.Joystick;
  15 import edu.wpi.first.wpilibj.buttons.Button;
  16 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  17
  18 public class OI /* implements KeyListener */ {
  19   private static OI oi;
  20   public static Joystick leftJoystick;
  21   public static Joystick rightJoystick;
  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 static Button increaseShooterSpeed;
  33   public static Button decreaseShooterSpeed;
  34
  35   private static Button changeCam;
  36
  37   private static Button togglePiston;
  38   private static Button toggleDriveTrainPiston;
  39
  40   public static Button brakeCANTalons;
  41   public static Button coastCANTalons;
  42
  43   public OI() {
  44
  45     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  46     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  47
  48     runIndexWheel = new JoystickButton(rightJoystick,
  49         Constants.OI.RUN_INDEXWHEEL_PORT);
  50     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  51
  52     reverseIndexWheel = new JoystickButton(rightJoystick,
  53         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  54     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  55
  56     toggleFlyWheel = new JoystickButton(rightJoystick,
  57         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  58     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  59
  60     toggleGear = new JoystickButton(leftJoystick,
  61         Constants.OI.TOGGLE_GEAR_PORT);
  62     toggleGear.whenPressed(new ToggleGear());
  63
  64     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  65     runIntake.whileHeld(new RunIntakeContinuous());
  66
  67     reverseIntake = new JoystickButton(leftJoystick,
  68         Constants.OI.REVERSE_INTAKE_PORT);
  69     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  70
  71     increaseShooterSpeed = new JoystickButton(leftJoystick,
  72         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  73     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  74
  75     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  76         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  77     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  78
  79     changeCam = new JoystickButton(rightJoystick,
  80         Constants.OI.CHANGE_CAMERA_VIEW);
  81     changeCam.toggleWhenPressed(new ChangeCameraView());
  82
  83     togglePiston = new JoystickButton(rightJoystick,
  84         Constants.Shooter.TOGGLE_INDEXER);
  85     togglePiston.whenPressed(new ToggleIndexerPiston());
  86
  87     toggleDriveTrainPiston = new JoystickButton(rightJoystick,
  88         Constants.DriveTrain.TOGGLE_DRIVE_PISTON);
  89     toggleDriveTrainPiston.whenPressed(new ToggleGear());
  90
  91     brakeCANTalons = new JoystickButton(rightJoystick,
  92         Constants.OI.BRAKE_CANTALONS_PORT);
  93     brakeCANTalons.whenPressed(new BrakeCANTalons());
  94
  95     coastCANTalons = new JoystickButton(rightJoystick,
  96         Constants.OI.COAST_CANTALONS_PORT);
  97     coastCANTalons.whenPressed(new CoastCANTalons());
  98   }
  99
 100   public static OI getOI() {
 101     if (oi == null)
 102       oi = new OI();
 103     return oi;
 104   }
 105
 106   /*
 107    * @Override public void keyPressed(KeyEvent e) { if (e.getKeyCode() ==
 108    * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
 109    * Robot.getShooter().runIndexWheel(); } }
 110    *
 111    * @Override public void keyReleased(KeyEvent e) { if (e.getKeyCode() ==
 112    * KeyEvent.VK_Z) { // Robot.swapCameraFeed();
 113    * Robot.getShooter().stopIndexWheel(); } }
 114    *
 115    * @Override public void keyTyped(KeyEvent e) { }
 116    */
 117
 118 }