competition fixes

[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..d2ab6747ddd546d1204c1e1ec0d7e5c1784716cd 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,21 +1,147 @@
 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.RunWinch;
+import org.usfirst.frc.team3501.robot.commands.climber.StopWinch;
+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.ShiftGearManipulatorPistonHigh;
+import org.usfirst.frc.team3501.robot.commands.driving.ShiftGearManipulatorPistonLow;
+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 org.usfirst.frc.team3501.robot.commands.shooter.StopFlyWheel;
+
 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 xboxController;
+  // public static Joystick rightJoystick;
+  public static Joystick gamePad;
+
+  public static Button runIndexWheel;
+  public static Button reverseIndexWheel;
+  public static Button runFlyWheel;
+  public static Button stopFlyWheel;
+  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 static Button stopclimb;
+
+  public static Button shiftGearManipulatorPistonHigh;
+  public static Button shiftGearManipulatorPistonLow;
 
   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(xboxController,
+        Constants.OI.RUN_INDEXWHEEL_PORT);
+    runIndexWheel.whileHeld(new RunIndexWheelContinuous());
+
+    reverseIndexWheel = new JoystickButton(xboxController,
+        Constants.OI.REVERSE_INDEXWHEEL_PORT);
+    reverseIndexWheel.whileHeld(new ReverseIndexWheelContinuous());
+
+    runFlyWheel = new JoystickButton(gamePad, Constants.OI.RUN_FLYWHEEL_PORT);
+    runFlyWheel.whenPressed(new RunFlyWheelContinuous());
+
+    stopFlyWheel = new JoystickButton(gamePad, Constants.OI.STOP_FLYWHEEL_PORT);
+    stopFlyWheel.whenPressed(new StopFlyWheel());
+
+    reverseFlyWheel = new JoystickButton(gamePad,
+        Constants.OI.REVERSE_FLYWHEEL_PORT);
+    reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
+
+    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());
+     */
+
+    shiftGearManipulatorPistonHigh = new JoystickButton(gamePad,
+        Constants.OI.SHIFT_GEAR_MANIPULATOR_HIGH_PORT);
+    shiftGearManipulatorPistonHigh
+        .whenPressed(new ShiftGearManipulatorPistonHigh());
+
+    shiftGearManipulatorPistonLow = new JoystickButton(gamePad,
+        Constants.OI.SHIFT_GEAR_MANIPULATOR_LOW_PORT);
+    shiftGearManipulatorPistonLow
+        .whenPressed(new ShiftGearManipulatorPistonLow());
+
+    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 RunWinch());
+
+    stopclimb = new JoystickButton(xboxController,
+        Constants.OI.STOP_CLIMB_PORT);
+    stopclimb.whenPressed(new StopWinch());
   }
-  
-  public static OI getOI(){
-         if(oi == null)
-                 oi = new OI();
-         return oi;
+
+  public static OI getOI() {
+    if (oi == null)
+      oi = new OI();
+    return oi;
   }
 }