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.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.ShiftDriveHighGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftDriveLowGear;
+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;
public class OI {
private static OI oi;
- public static Joystick leftJoystick;
- public static Joystick rightJoystick;
- public static Button toggleWinch;
+ public static Joystick xboxController;
+ // 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 toggleGear;
+ public static Button shiftHigh;
+ public static Button shiftLow;
+
+ 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);
+ xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT);
+ // rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
+ gamePad = new Joystick(Constants.OI.GAME_PAD_PORT);
- runIndexWheel = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_INDEXWHEEL_PORT);
+ runIndexWheel = new JoystickButton(xboxController,
+ Constants.OI.RUN_INDEXWHEEL_PORT);
runIndexWheel.whileHeld(new RunIndexWheelContinuous());
- reverseIndexWheel = new JoystickButton(leftJoystick,
+ reverseIndexWheel = new JoystickButton(xboxController,
Constants.OI.REVERSE_INDEXWHEEL_PORT);
reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
- toggleFlyWheel = new JoystickButton(leftJoystick,
+ toggleFlyWheel = new JoystickButton(gamePad,
Constants.OI.TOGGLE_FLYWHEEL_PORT);
toggleFlyWheel.toggleWhenPressed(new RunFlyWheelContinuous());
- toggleGear = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_GEAR_PORT);
- toggleGear.whenPressed(new ToggleGear());
+ reverseFlyWheel = new JoystickButton(gamePad,
+ Constants.OI.REVERSE_FLYWHEEL_PORT);
+ reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
+
+ // toggleGear = new JoystickButton(xboxController,
+ // Constants.OI.TOGGLE_GEAR_PORT);
+ // toggleGear.whenPressed(new ToggleDriveGear());
+
+ shiftHigh = new JoystickButton(xboxController,
+ Constants.OI.SHIFT_HIGH_PORT);
+ shiftHigh.whenPressed(new ShiftDriveHighGear());
+
+ shiftLow = new JoystickButton(xboxController, Constants.OI.SHIFT_LOW_PORT);
+ shiftLow.whenPressed(new ShiftDriveLowGear());
- runIntake = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_INTAKE_PORT);
+ toggleGearManipulatorPiston = new JoystickButton(gamePad,
+ Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
+ toggleGearManipulatorPiston.whenPressed(new ToggleGearManipulatorPiston());
+
+ runIntake = new JoystickButton(xboxController,
+ Constants.OI.RUN_INTAKE_PORT);
runIntake.whileHeld(new RunIntakeContinuous());
- reverseIntake = new JoystickButton(leftJoystick,
+ reverseIntake = new JoystickButton(xboxController,
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());
+ 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(xboxController,
+ Constants.OI.BRAKE_CANTALONS_PORT);
+ brakeCANTalons.whenPressed(new BrakeCANTalons());
+
+ coastCANTalons = new JoystickButton(xboxController,
+ Constants.OI.COAST_CANTALONS_PORT);
+ coastCANTalons.whenPressed(new CoastCANTalons());
+
+ climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
+ climb.whenPressed(new ToggleWinch());
}
public static OI getOI() {