* constants for subsystems such as max and min values.
*/
+// have two buttons: one for shifting to high gear and the other for shifting to
+// low gear
+
public class Constants {
public static class OI {
- public final static int LEFT_STICK_PORT = 0;
- public final static int RIGHT_STICK_PORT = 1;
+ public final static int XBOX_CONTROLLER_PORT = 0;
+ // public final static int RIGHT_STICK_PORT = 1;
public static final int GAME_PAD_PORT = 2;
- public final static int TOGGLE_GEAR_PORT = 5;
- public final static int RUN_INTAKE_PORT = 1;
- public final static int REVERSE_INTAKE_PORT = 2;
-
- public final static int RUN_INDEXWHEEL_PORT = 1;
- public final static int REVERSE_INDEXWHEEL_PORT = 2;
- public static final int BRAKE_CANTALONS_PORT = 5;
- public static final int COAST_CANTALONS_PORT = 6;
-
+ // Xbox Controller Ports
+ // public final static int TOGGLE_GEAR_PORT = 5;
+ public final static int SHIFT_LOW_PORT = 9;
+ public final static int SHIFT_HIGH_PORT = 10;
+ public final static int RUN_INTAKE_PORT = 6;
+ public final static int REVERSE_INTAKE_PORT = 8;
+ public final static int RUN_INDEXWHEEL_PORT = 5;
+ public final static int REVERSE_INDEXWHEEL_PORT = 7;
+ public static final int BRAKE_CANTALONS_PORT = 1;
+ public static final int COAST_CANTALONS_PORT = 3;
+ public static final int CLIMB_PORT = 4;
+
+ // Game Pad Ports
public final static int TOGGLE_FLYWHEEL_PORT = 1;
public static final int REVERSE_FLYWHEEL_PORT = 3;
public static final int INCREASE_SHOOTER_SPEED_PORT = 8;
public static final int RESET_SHOOTER_SPEED_PORT = 5;
public static final int TOGGLE_GEAR_MANIPULATOR_PORT = 2;
- public static final int CLIMB_PORT = 0;
}
public static class Shooter {
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.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;
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 toggleFlyWheel;
public static Button reverseFlyWheel;
- public static Button toggleGear;
+ // public static Button toggleGear;
+ public static Button shiftHigh;
+ public static Button shiftLow;
+
public static Button toggleGearManipulatorPiston;
public static Button runIntake;
public static Button climb;
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());
Constants.OI.REVERSE_FLYWHEEL_PORT);
reverseFlyWheel.whileHeld(new ReverseFlyWheelContinuous());
- toggleGear = new JoystickButton(leftJoystick,
- Constants.OI.TOGGLE_GEAR_PORT);
- toggleGear.whenPressed(new ToggleDriveGear());
+ // 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(leftJoystick, Constants.OI.RUN_INTAKE_PORT);
+ 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(leftJoystick, Constants.OI.CLIMB_PORT);
+ climb = new JoystickButton(xboxController, Constants.OI.CLIMB_PORT);
climb.whenPressed(new ToggleWinch());
}
import org.usfirst.frc.team3501.robot.OI;
import org.usfirst.frc.team3501.robot.Robot;
+import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.command.Command;
/**
@Override
protected void execute() {
- // final double thrust = OI.rightJoystick.getY();
- // final double twist = OI.rightJoystick.getTwist();
- //
- // Robot.getDriveTrain().joystickDrive(-thrust, -twist);
- double left = OI.leftJoystick.getY();
- double right = OI.rightJoystick.getY();
- Robot.getDriveTrain().tankDrive(left, right);
+ final double thrust = OI.xboxController.getY();
+ final double twist = OI.xboxController.getAxis(AxisType.kZ);
+
+ Robot.getDriveTrain().joystickDrive(-thrust, -twist);
+
+ /*
+ * double left = OI.leftJoystick.getY(); double right =
+ * OI.rightJoystick.getY(); Robot.getDriveTrain().tankDrive(-left, -right);
+ */
}
@Override