Add command group for ToggleWinch

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / OI.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index ec405ac0aeca44daba0e501381b186e0ba476dbe..05fb72dbbbf46fc6c1bad4c9df8adbddc679354b 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,6 +1,12 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commandgroups.ToggleWinch;
 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;
@@ -12,23 +18,52 @@ public class OI {
   public static Joystick rightJoystick;
   public static Button toggleWinch;
 
-  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 (!Robot.getDriveTrain().isClimbing()) { toggleWinch.whenPressed(new
+     * RunWinchContinuous()); Robot.getDriveTrain().setClimbing(true); } else {
+     * toggleWinch.whenPressed(new MaintainClimbedPosition());
+     * Robot.getDriveTrain().setClimbing(false); }
+     */
+    toggleWinch.whenPressed(new ToggleWinch());
   }
 
   public static OI getOI() {