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 7002a58bf1e4cbaeef433d5bd560c78543da1e60..d2ab6747ddd546d1204c1e1ec0d7e5c1784716cd 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -2,9 +2,12 @@ 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.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;
@@ -14,6 +17,7 @@ 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;
@@ -21,17 +25,21 @@ 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 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;
@@ -43,40 +51,63 @@ public class OI {
   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());
 
@@ -92,16 +123,20 @@ public class OI {
         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(leftJoystick, Constants.OI.CLIMB_PORT);
-    climb.whenPressed(new ToggleWinch());
+    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() {