package org.usfirst.frc.team3501.robot;
-import org.usfirst.frc.team3501.robot.commands.driving.BrakeCANTalons;
-import org.usfirst.frc.team3501.robot.commands.driving.CoastCANTalons;
-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.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.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;
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 toggleFlyWheel;
+ public static Button runFlyWheel;
+ public static Button stopFlyWheel;
public static Button reverseFlyWheel;
- public static Button toggleGear;
- public static Button toggleGearManipulatorPiston;
+ // 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 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(rightJoystick,
+ runIndexWheel = new JoystickButton(xboxController,
Constants.OI.RUN_INDEXWHEEL_PORT);
runIndexWheel.whileHeld(new RunIndexWheelContinuous());
- reverseIndexWheel = new JoystickButton(rightJoystick,
+ 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());
+ 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());
- toggleGear = new JoystickButton(leftJoystick,
- 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());
+ /*
+ * toggleGearManipulatorPiston = new JoystickButton(gamePad,
+ * Constants.OI.TOGGLE_GEAR_MANIPULATOR_PORT);
+ * toggleGearManipulatorPiston.whenPressed(new
+ * ToggleGearManipulatorPiston());
+ */
- runIntake = new JoystickButton(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
+ 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(leftJoystick,
+ reverseIntake = new JoystickButton(xboxController,
Constants.OI.REVERSE_INTAKE_PORT);
reverseIntake.whileHeld(new ReverseIntakeContinuous());
Constants.OI.RESET_SHOOTER_SPEED_PORT);
resetShooterSpeed.whenPressed(new ResetShootingSpeed());
- brakeCANTalons = new JoystickButton(rightJoystick,
+ brakeCANTalons = new JoystickButton(xboxController,
Constants.OI.BRAKE_CANTALONS_PORT);
brakeCANTalons.whenPressed(new BrakeCANTalons());
- coastCANTalons = new JoystickButton(rightJoystick,
+ 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() {