package org.usfirst.frc.team3501.robot;
+import org.usfirst.frc.team3501.robot.commands.climber.MaintainClimbedPosition;
+import org.usfirst.frc.team3501.robot.commands.climber.RunWinchContinuous;
import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
+import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
+import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
+import org.usfirst.frc.team3501.robot.commands.shooter.ReverseIndexWheelContinuous;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunFlyWheelContinuous;
+import org.usfirst.frc.team3501.robot.commands.shooter.RunIndexWheelContinuous;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.Button;
public static Joystick leftJoystick;
public static Joystick rightJoystick;
public static Button toggleWinch;
+ private boolean isClimbing = false;
- public static Button toggleIndexWheel;
+ public static Button runIndexWheel;
+ public static Button reverseIndexWheel;
public static Button toggleFlyWheel;
public static Button toggleGear;
+ public static Button runIntake;
+ public static Button reverseIntake;
+
public OI() {
leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
- toggleWinch = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_WINCH_PORT);
- toggleIndexWheel = new JoystickButton(leftJoystick,
+
+ runIndexWheel = new JoystickButton(leftJoystick,
Constants.OI.TOGGLE_INDEXWHEEL_PORT);
+ runIndexWheel.whileHeld(new RunIndexWheelContinuous());
+
+ reverseIndexWheel = new JoystickButton(leftJoystick,
+ Constants.OI.REVERSE_INDEXWHEEL_PORT);
+ reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
+
toggleFlyWheel = new JoystickButton(leftJoystick,
Constants.OI.TOGGLE_FLYWHEEL_PORT);
+ toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
+
toggleGear = new JoystickButton(leftJoystick,
Constants.OI.TOGGLE_GEAR_PORT);
toggleGear.whenPressed(new ToggleGear());
+
+ runIntake = new JoystickButton(leftJoystick,
+ Constants.OI.TOGGLE_INTAKE_PORT);
+ runIntake.whileHeld(new RunIntakeContinuous());
+
+ reverseIntake = new JoystickButton(leftJoystick,
+ Constants.OI.REVERSE_INTAKE_PORT);
+ reverseIntake.whileHeld(new ReverseIntakeContinuous());
+
+ toggleWinch = new JoystickButton(leftJoystick,
+ Constants.OI.TOGGLE_WINCH_PORT);
+ if (!isClimbing) {
+ toggleWinch.whenPressed(new RunWinchContinuous());
+ isClimbing = true;
+ } else {
+ toggleWinch.whenPressed(new MaintainClimbedPosition());
+ isClimbing = false;
+ }
}
public static OI getOI() {