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.ToggleGear;
   5 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
   6 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
   7 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
   8 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  12
  13 import edu.wpi.first.wpilibj.Joystick;
  14 import edu.wpi.first.wpilibj.buttons.Button;
  15 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  16
  17 public class OI {
  18   private static OI oi;
  19   public static Joystick leftJoystick;
  20   public static Joystick rightJoystick;
  21   public static Button toggleWinch;
  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 OI() {
  36     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  37     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  38
  39     runIndexWheel = new JoystickButton(rightJoystick,
  40         Constants.OI.RUN_INDEXWHEEL_PORT);
  41     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  42
  43     reverseIndexWheel = new JoystickButton(rightJoystick,
  44         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  45     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  46
  47     toggleFlyWheel = new JoystickButton(rightJoystick,
  48         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  49     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  50
  51     toggleGear = new JoystickButton(leftJoystick,
  52         Constants.OI.TOGGLE_GEAR_PORT);
  53     toggleGear.whenPressed(new ToggleGear());
  54
  55     runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
  56     runIntake.whileHeld(new RunIntakeContinuous());
  57
  58     reverseIntake = new JoystickButton(leftJoystick,
  59         Constants.OI.REVERSE_INTAKE_PORT);
  60     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  61
  62     toggleWinch = new JoystickButton(leftJoystick,
  63         Constants.OI.TOGGLE_WINCH_PORT);
  64     toggleWinch.whenPressed(new ToggleWinch());
  65
  66     increaseShooterSpeed = new JoystickButton(leftJoystick,
  67         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
  68     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
  69
  70     decreaseShooterSpeed = new JoystickButton(leftJoystick,
  71         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
  72     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  73   }
  74
  75   public static OI getOI() {
  76     if (oi == null)
  77       oi = new OI();
  78     return oi;
  79   }
  80 }