implement tank drive and toggle winch

[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 211c3992323cac295dc95ad8f22faa573dc0e3f1..7002a58bf1e4cbaeef433d5bd560c78543da1e60 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,21 +1,112 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commands.climber.BrakeCANTalons;
+import org.usfirst.frc.team3501.robot.commands.climber.CoastCANTalons;
+import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
+import org.usfirst.frc.team3501.robot.commands.driving.ToggleDriveGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ToggleGearManipulatorPiston;
+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.DecreaseShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.IncreaseShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetShootingSpeed;
+import org.usfirst.frc.team3501.robot.commands.shooter.ReverseFlyWheelContinuous;
+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;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class OI {
   private static OI oi;
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
+  public static Joystick gamePad;
+
+  public static Button runIndexWheel;
+  public static Button reverseIndexWheel;
+  public static Button toggleFlyWheel;
+  public static Button reverseFlyWheel;
+
+  public static Button toggleGear;
+  public static Button toggleGearManipulatorPiston;
+
+  public static Button runIntake;
+  public static Button reverseIntake;
+
+  public static Button increaseShooterSpeed;
+  public static Button decreaseShooterSpeed;
+  public static Button resetShooterSpeed;
+
+  public static Button brakeCANTalons;
+  public static Button coastCANTalons;
+  public static Button climb;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
+    gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
+
+    runIndexWheel = new JoystickButton(rightJoystick,
+        Constants.OI.RUN_INDEXWHEEL_PORT);
+    runIndexWheel.whileHeld(new RunIndexWheelContinuous());
+
+    reverseIndexWheel = new JoystickButton(rightJoystick,
+        Constants.OI.REVERSE_INDEXWHEEL_PORT);
+    reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
+
+    toggleFlyWheel = new JoystickButton(gamePad,
+        Constants.OI.TOGGLE_FLYWHEEL_PORT);
+    toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
+
+    reverseFlyWheel = new JoystickButton(gamePad,
+        Constants.OI.REVERSE_FLYWHEEL_PORT);
+    reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
 
+    toggleGear = new JoystickButton(leftJoystick,
+        Constants.OI.TOGGLE_GEAR_PORT);
+    toggleGear.whenPressed(new ToggleDriveGear());
+
+    toggleGearManipulatorPiston = new JoystickButton(gamePad,
+        Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
+    toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston());
+
+    runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
+    runIntake.whileHeld(new RunIntakeContinuous());
+
+    reverseIntake = new JoystickButton(leftJoystick,
+        Constants.OI.REVERSE_INTAKE_PORT);
+    reverseIntake.whileHeld(new ReverseIntakeContinuous());
+
+    increaseShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.INCREASE_SHOOTER_SPEED_PORT);
+    increaseShooterSpeed.whenPressed(new IncreaseShootingSpeed());
+
+    decreaseShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
+    decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
+
+    resetShooterSpeed = new JoystickButton(gamePad,
+        Constants.OI.RESET_SHOOTER_SPEED_PORT);
+    resetShooterSpeed.whenPressed(new ResetShootingSpeed());
+
+    brakeCANTalons = new JoystickButton(rightJoystick,
+        Constants.OI.BRAKE_CANTALONS_PORT);
+    brakeCANTalons.whenPressed(new BrakeCANTalons());
+
+    coastCANTalons = new JoystickButton(rightJoystick,
+        Constants.OI.COAST_CANTALONS_PORT);
+    coastCANTalons.whenPressed(new CoastCANTalons());
+
+    climb = new JoystickButton(leftJoystick, Constants.OI.CLIMB_PORT);
+    climb.whenPressed(new ToggleWinch());
   }
-  
-  public static OI getOI(){
-         if(oi == null)
-                 oi = new OI();
-         return oi;
+
+  public static OI getOI() {
+    if (oi == null)
+      oi = new OI();
+    return oi;
   }
 }