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.climber.ToggleWinch;
   6 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
   7 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   8 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  12 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  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 {
  20   private static OI oi;
  21   public static Joystick leftJoystick;
  22   public static Joystick rightJoystick;
  23   public static Button toggleWinch;
  24   private boolean isClimbing = false;
  25
  26   public static Button runIndexWheel;
  27   public static Button reverseIndexWheel;
  28   public static Button toggleFlyWheel;
  29
  30   public static Button toggleGear;
  31
  32   public static Button runIntake;
  33   public static Button reverseIntake;
  34
  35   public static Button increaseShooterSpeed;
  36   public static Button decreaseShooterSpeed;
  37
  38   public OI() {
  39     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  40     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  41
  42     runIndexWheel = new JoystickButton(rightJoystick,
  43         Constants.OI.RUN_INDEXWHEEL_PORT);
  44     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  45
  46     reverseIndexWheel = new JoystickButton(leftJoystick,
  47         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  48     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  49
  50     toggleFlyWheel = new JoystickButton(rightJoystick,
  51         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  52     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  53
  54     toggleGear = new JoystickButton(leftJoystick,
  55         Constants.OI.TOGGLE_GEAR_PORT);
  56
  57     toggleGear.whenPressed(new ToggleGear());
  58
  59     runIntake = new JoystickButton(leftJoystick,
  60         Constants.OI.RUN_INTAKE_PORT);
  61     runIntake.whileHeld(new RunIntakeContinuous());
  62
  63     reverseIntake = new JoystickButton(leftJoystick,
  64         Constants.OI.REVERSE_INTAKE_PORT);
  65     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  66
  67     toggleWinch = new JoystickButton(leftJoystick,
  68         Constants.OI.TOGGLE_WINCH_PORT);
  69     toggleWinch.whenPressed(new ToggleWinch());
  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     if (!isClimbing) {
  80       toggleWinch.whenPressed(new RunWinchContinuous());
  81       isClimbing = true;
  82     } else {
  83       toggleWinch.whenPressed(new MaintainClimbedPosition());
  84       isClimbing = false;
  85     }
  86   }
  87
  88   public static OI getOI() {
  89     if (oi == null)
  90       oi = new OI();
  91     return oi;
  92   }
  93 }