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