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.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.ToggleGearManipulatorPiston;
+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 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 shiftHigh;
public static Button shiftLow;
- public static Button toggleGearManipulatorPiston;
+ // 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() {
xboxController = new Joystick(Constants.OI.XBOX_CONTROLLER_PORT);
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(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());
+ /*
+ * 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);
coastCANTalons.whenPressed(new CoastCANTalons());
climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
- climb.whenPressed(new ToggleWinch());
+ climb.whenPressed(new RunWinch());
+
+ stopclimb = new JoystickButton(xboxController,
+ Constants.OI.STOP_CLIMB_PORT);
+ stopclimb.whenPressed(new StopWinch());
}
public static OI getOI() {