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.commandgroups.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.ReverseIndexWheelContinuous;
   8 import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
  10
  11 import edu.wpi.first.wpilibj.Joystick;
  12 import edu.wpi.first.wpilibj.buttons.Button;
  13 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  14
  15 public class OI {
  16   private static OI oi;
  17   public static Joystick leftJoystick;
  18   public static Joystick rightJoystick;
  19   public static Button toggleWinch;
  20
  21   public static Button runIndexWheel;
  22   public static Button reverseIndexWheel;
  23   public static Button toggleFlyWheel;
  24
  25   public static Button toggleGear;
  26
  27   public static Button runIntake;
  28   public static Button reverseIntake;
  29
  30   public OI() {
  31     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  32     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  33
  34     runIndexWheel = new JoystickButton(leftJoystick,
  35         Constants.OI.TOGGLE_INDEXWHEEL_PORT);
  36     runIndexWheel.whileHeld(new RunIndexWheelContinuous());
  37
  38     reverseIndexWheel = new JoystickButton(leftJoystick,
  39         Constants.OI.REVERSE_INDEXWHEEL_PORT);
  40     reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
  41
  42     toggleFlyWheel = new JoystickButton(leftJoystick,
  43         Constants.OI.TOGGLE_FLYWHEEL_PORT);
  44     toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
  45
  46     toggleGear = new JoystickButton(leftJoystick,
  47         Constants.OI.TOGGLE_GEAR_PORT);
  48     toggleGear.whenPressed(new ToggleGear());
  49
  50     runIntake = new JoystickButton(leftJoystick,
  51         Constants.OI.TOGGLE_INTAKE_PORT);
  52     runIntake.whileHeld(new RunIntakeContinuous());
  53
  54     reverseIntake = new JoystickButton(leftJoystick,
  55         Constants.OI.REVERSE_INTAKE_PORT);
  56     reverseIntake.whileHeld(new ReverseIntakeContinuous());
  57
  58     toggleWinch = new JoystickButton(leftJoystick,
  59         Constants.OI.TOGGLE_WINCH_PORT);
  60     /*
  61      * if (!Robot.getDriveTrain().isClimbing()) { toggleWinch.whenPressed(new
  62      * RunWinchContinuous()); Robot.getDriveTrain().setClimbing(true); } else {
  63      * toggleWinch.whenPressed(new MaintainClimbedPosition());
  64      * Robot.getDriveTrain().setClimbing(false); }
  65      */
  66     toggleWinch.whenPressed(new ToggleWinch());
  67   }
  68
  69   public static OI getOI() {
  70     if (oi == null)
  71       oi = new OI();
  72     return oi;
  73   }
  74 }