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.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
  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 {
  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   public static Button brakeCANTalons;
  36   public static Button coastCANTalons;
  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(rightJoystick,
  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     toggleGear.whenPressed(new ToggleGear());
  57
  58     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  59     runIntake.whileHeld(new RunIntakeContinuous());
  60
  61     reverseIntake = new JoystickButton(leftJoystick,
  62         Constants.OI.REVERSE_INTAKE_PORT);
  63     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  64
  65     increaseShooterSpeed = new JoystickButton(leftJoystick,
  66         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  67     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  68
  69     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  70         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  71     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  72
  73     brakeCANTalons = new JoystickButton(rightJoystick,
  74         Constants.OI.BRAKE_CANTALONS_PORT);
  75     brakeCANTalons.whenPressed(new BrakeCANTalons());
  76
  77     coastCANTalons = new JoystickButton(rightJoystick,
  78         Constants.OI.COAST_CANTALONS_PORT);
  79     coastCANTalons.whenPressed(new CoastCANTalons());
  80   }
  81
  82   public static OI getOI() {
  83     if (oi == null)
  84       oi = new OI();
  85     return oi;
  86   }
  87 }