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