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.RunWinch;
   6 import org.usfirst.frc.team3501.robot.commands.climber.StopWinch;
   7 import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveHighGear;
   8 import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear;
   9 import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonHigh;
  10 import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonLow;
  11 import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
  12 import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
  13 import org.usfirst.frc.team3501.robot.commands.shooter.DecreaseShootingSpeed;
  14 import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
  15 import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed;
  16 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous;
  17 import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
  18 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
  19 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  20 import org.usfirst.frc.team3501.robot.commands.shooter.StopFlyWheel;
  21
  22 import edu.wpi.first.wpilibj.Joystick;
  23 import edu.wpi.first.wpilibj.buttons.Button;
  24 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  25
  26 public class OI {
  27   private static OI oi;
  28   public static Joystick xboxController;
  29   // public static Joystick rightJoystick;
  30   public static Joystick gamePad;
  31
  32   public static Button runIndexWheel;
  33   public static Button reverseIndexWheel;
  34   public static Button runFlyWheel;
  35   public static Button stopFlyWheel;
  36   public static Button reverseFlyWheel;
  37
  38   // public static Button toggleGear;
  39   public static Button shiftHigh;
  40   public static Button shiftLow;
  41
  42   // public static Button toggleGearManipulatorPiston;
  43
  44   public static Button runIntake;
  45   public static Button reverseIntake;
  46
  47   public static Button increaseShooterSpeed;
  48   public static Button decreaseShooterSpeed;
  49   public static Button resetShooterSpeed;
  50
  51   public static Button brakeCANTalons;
  52   public static Button coastCANTalons;
  53   public static Button climb;
  54   public static Button stopclimb;
  55
  56   public static Button shiftGearManipulatorPistonHigh;
  57   public static Button shiftGearManipulatorPistonLow;
  58
  59   public OI() {
  60     xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT);
  61     // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  62     gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
  63
  64     runIndexWheel = new JoystickButton(xboxController,
  65         Constants.OI.RUN_INDEXWHEEL_PORT);
  66     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  67
  68     reverseIndexWheel = new JoystickButton(xboxController,
  69         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  70     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  71
  72     runFlyWheel = new JoystickButton(gamePad, Constants.OI.RUN_FLYWHEEL_PORT);
  73     runFlyWheel.whenPressed(new RunFlyWheelContinuous());
  74
  75     stopFlyWheel = new JoystickButton(gamePad, Constants.OI.STOP_FLYWHEEL_PORT);
  76     stopFlyWheel.whenPressed(new StopFlyWheel());
  77
  78     reverseFlyWheel = new JoystickButton(gamePad,
  79         Constants.OI.REVERSE_FLYWHEEL_PORT);
  80     reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
  81
  82     shiftHigh = new JoystickButton(xboxController,
  83         Constants.OI.SHIFT_HIGH_PORT);
  84     shiftHigh.whenPressed(new ShiftDriveHighGear());
  85
  86     shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT);
  87     shiftLow.whenPressed(new ShiftDriveLowGear());
  88
  89     /*
  90      * toggleGearManipulatorPiston = new JoystickButton(gamePad,
  91      * Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
  92      * toggleGearManipulatorPiston.whenPressed(new
  93      * ToggleGearManipulatorPiston());
  94      */
  95
  96     shiftGearManipulatorPistonHigh = new JoystickButton(gamePad,
  97         Constants.OI.SHIFT_GEAR_MANIPULATOR_HIGH_PORT);
  98     shiftGearManipulatorPistonHigh
  99         .whenPressed(new ShiftGearManipulatorPistonHigh());
 100
 101     shiftGearManipulatorPistonLow = new JoystickButton(gamePad,
 102         Constants.OI.SHIFT_GEAR_MANIPULATOR_LOW_PORT);
 103     shiftGearManipulatorPistonLow
 104         .whenPressed(new ShiftGearManipulatorPistonLow());
 105
 106     runIntake = new JoystickButton(xboxController,
 107         Constants.OI.RUN_INTAKE_PORT);
 108     runIntake.whileHeld(new RunIntakeContinuous());
 109
 110     reverseIntake = new JoystickButton(xboxController,
 111         Constants.OI.REVERSE_INTAKE_PORT);
 112     reverseIntake.whileHeld(new ReverseIntakeContinuous());
 113
 114     increaseShooterSpeed = new JoystickButton(gamePad,
 115         Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
 116     increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
 117
 118     decreaseShooterSpeed = new JoystickButton(gamePad,
 119         Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
 120     decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
 121
 122     resetShooterSpeed = new JoystickButton(gamePad,
 123         Constants.OI.RESET_SHOOTER_SPEED_PORT);
 124     resetShooterSpeed.whenPressed(new ResetShootingSpeed());
 125
 126     brakeCANTalons = new JoystickButton(xboxController,
 127         Constants.OI.BRAKE_CANTALONS_PORT);
 128     brakeCANTalons.whenPressed(new BrakeCANTalons());
 129
 130     coastCANTalons = new JoystickButton(xboxController,
 131         Constants.OI.COAST_CANTALONS_PORT);
 132     coastCANTalons.whenPressed(new CoastCANTalons());
 133
 134     climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
 135     climb.whenPressed(new RunWinch());
 136
 137     stopclimb = new JoystickButton(xboxController,
 138         Constants.OI.STOP_CLIMB_PORT);
 139     stopclimb.whenPressed(new StopWinch());
 140   }
 141
 142   public static OI getOI() {
 143     if (oi == null)
 144       oi = new OI();
 145     return oi;
 146   }
 147 }