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.BrakeCANTalons;
   4 import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons;
   5 import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
   6 import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear;
   7 import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear;
   8 import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston;
   9 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  12 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed;
  14 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous;
  15 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  16 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  17 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  18
  19 import edu.wpi.first.wpilibj.Joystick;
  20 import edu.wpi.first.wpilibj.buttons.Button;
  21 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  22
  23 public class OI {
  24   private static OI oi;
  25   public static Joystick xboxController;
  26   // public static Joystick rightJoystick;
  27   public static Joystick gamePad;
  28
  29   public static Button runIndexWheel;
  30   public static Button reverseIndexWheel;
  31   public static Button toggleFlyWheel;
  32   public static Button reverseFlyWheel;
  33
  34   // public static Button toggleGear;
  35   public static Button shiftHigh;
  36   public static Button shiftLow;
  37
  38   public static Button toggleGearManipulatorPiston;
  39
  40   public static Button runIntake;
  41   public static Button reverseIntake;
  42
  43   public static Button increaseShooterSpeed;
  44   public static Button decreaseShooterSpeed;
  45   public static Button resetShooterSpeed;
  46
  47   public static Button brakeCANTalons;
  48   public static Button coastCANTalons;
  49   public static Button climb;
  50
  51   public OI() {
  52     xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT);
  53     // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  54     gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
  55
  56     runIndexWheel = new JoystickButton(xboxController,
  57         Constants.OI.RUN_INDEXWHEEL_PORT);
  58     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  59
  60     reverseIndexWheel = new JoystickButton(xboxController,
  61         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  62     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  63
  64     toggleFlyWheel = new JoystickButton(gamePad,
  65         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  66     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  67
  68     reverseFlyWheel = new JoystickButton(gamePad,
  69         Constants.OI.REVERSE_FLYWHEEL_PORT);
  70     reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
  71
  72     // toggleGear = new JoystickButton(xboxController,
  73     // Constants.OI.TOGGLE_GEAR_PORT);
  74     // toggleGear.whenPressed(new ToggleDriveGear());
  75
  76     shiftHigh = new JoystickButton(xboxController,
  77         Constants.OI.SHIFT_HIGH_PORT);
  78     shiftHigh.whenPressed(new ShiftDriveHighGear());
  79
  80     shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT);
  81     shiftLow.whenPressed(new ShiftDriveLowGear());
  82
  83     toggleGearManipulatorPiston = new JoystickButton(gamePad,
  84         Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
  85     toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston());
  86
  87     runIntake = new JoystickButton(xboxController,
  88         Constants.OI.RUN_INTAKE_PORT);
  89     runIntake.whileHeld(new RunIntakeContinuous());
  90
  91     reverseIntake = new JoystickButton(xboxController,
  92         Constants.OI.REVERSE_INTAKE_PORT);
  93     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  94
  95     increaseShooterSpeed = new JoystickButton(gamePad,
  96         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  97     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  98
  99     decreaseShooterSpeed = new JoystickButton(gamePad,
 100         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
 101     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
 102
 103     resetShooterSpeed = new JoystickButton(gamePad,
 104         Constants.OI.RESET_SHOOTER_SPEED_PORT);
 105     resetShooterSpeed.whenPressed(new ResetShootingSpeed());
 106
 107     brakeCANTalons = new JoystickButton(xboxController,
 108         Constants.OI.BRAKE_CANTALONS_PORT);
 109     brakeCANTalons.whenPressed(new BrakeCANTalons());
 110
 111     coastCANTalons = new JoystickButton(xboxController,
 112         Constants.OI.COAST_CANTALONS_PORT);
 113     coastCANTalons.whenPressed(new CoastCANTalons());
 114
 115     climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
 116     climb.whenPressed(new ToggleWinch());
 117   }
 118
 119   public static OI getOI() {
 120     if (oi == null)
 121       oi = new OI();
 122     return oi;
 123   }
 124 }