challenge-bot.com Git - 3501/3501-spark-go/blob - src/org/usfirst/frc/team3501/robot/OI.java

   1 package org.usfirst.frc.team3501.robot;
   2
   3 import java.util.Arrays;
   4
   5 import org.usfirst.frc.team3501.robot.commands.*;
   6
   7 public class OI {
   8
   9     private Joystick left, right;
  10
  11     public OI() {
  12         left  = new Joystick(RobotMap.LEFT_JOYSTICK_PORT);
  13         right = new Joystick(RobotMap.RIGHT_JOYSTICK_PORT);
  14
  15         right.whenPressed(1,  new CloseClaw());
  16         right.whenReleased(1, new OpenClaw());
  17         right.whenPressed(2,  new ToggleClaw());
  18
  19         right.whenPressed(11, new TurnOffCompressor());
  20         right.whenPressed(12, new TurnOffCompressor());
  21         right.whenPressed(7,  new TurnOnCompressor());
  22         right.whenPressed(8,  new TurnOnCompressor());
  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));
  31     }
  32
  33     public double getForwardL() {
  34         return left.getY();
  35     }
  36
  37     public double getForwardR() {
  38         return right.getY();
  39     }
  40
  41     public double getTwistR() {
  42         return right.getTwist();
  43     }
  44
  45     public boolean getRightPressed(int... buttons) {
  46         return Arrays.stream(buttons).anyMatch(b -> right.get(b));
  47     }
  48 }