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