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b449387d LH |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
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3 | import java.util.Arrays; |
4 | ||
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5 | import org.usfirst.frc.team3501.robot.commands.*; |
6 | ||
7 | public class OI { | |
3cd438bd | 8 | |
f24c549d | 9 | private Joystick left, right; |
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10 | |
11 | public OI() { | |
12 | left = new Joystick(RobotMap.LEFT_JOYSTICK_PORT); | |
13 | right = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT); | |
14 | ||
3cd438bd | 15 | right.whenPressed(1, new CloseClaw()); |
b449387d | 16 | right.whenReleased(1, new OpenClaw()); |
3cd438bd | 17 | right.whenPressed(2, new ToggleClaw()); |
d24e8611 | 18 | |
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19 | right.whenPressed(11, new TurnOffCompressor()); |
20 | right.whenPressed(12, new TurnOffCompressor()); | |
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21 | right.whenPressed(7, new TurnOnCompressor()); |
22 | right.whenPressed(8, new TurnOnCompressor()); | |
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23 | |
24 | // potential bug point: this should "Just Work" because as soon as | |
25 | // command stops running, left stick pos at 0 should take over... | |
26 | // if that is not the case, arm will continue indefinitely. | |
27 | left.whileHeld(7, new TensionLeftWinch(RobotMap.ARM_ADJUST_SPEED)); | |
28 | left.whileHeld(6, new TensionLeftWinch(-RobotMap.ARM_ADJUST_SPEED)); | |
29 | left.whileHeld(11, new TensionRightWinch(RobotMap.ARM_ADJUST_SPEED)); | |
30 | left.whileHeld(10, new TensionRightWinch(-RobotMap.ARM_ADJUST_SPEED)); | |
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31 | } |
32 | ||
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33 | public double getForwardL() { |
34 | return left.getY(); | |
35 | } | |
36 | ||
37 | public double getForwardR() { | |
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38 | return right.getY(); |
39 | } | |
40 | ||
f24c549d | 41 | public double getTwistR() { |
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42 | return right.getTwist(); |
43 | } | |
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44 | |
45 | public boolean getRightPressed(int... buttons) { | |
46 | return Arrays.stream(buttons).anyMatch(b -> right.get(b)); | |
47 | } | |
b449387d | 48 | } |