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.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;
+
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 Button toggleWinch;
+ public static Joystick xboxController;
+ // public static Joystick rightJoystick;
+ public static Joystick gamePad;
- public static Button toggleIndexWheel;
+ public static Button runIndexWheel;
+ public static Button reverseIndexWheel;
public static Button toggleFlyWheel;
+ public static Button reverseFlyWheel;
+
+ // 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);
- toggleWinch = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_WINCH_PORT);
- toggleIndexWheel = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_INDEXWHEEL_PORT);
- toggleFlyWheel = new JoystickButton(leftJoystick,
+ 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(xboxController,
+ Constants.OI.RUN_INDEXWHEEL_PORT);
+ runIndexWheel.whileHeld(new RunIndexWheelContinuous());
+
+ reverseIndexWheel = new JoystickButton(xboxController,
+ 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(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());
+
+ 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(xboxController,
+ 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(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() {