82c4217ab6229cc1dd87f966c5c72c2ed98ec013
1 package org
.usfirst
.frc
.team3501
.robot
;
3 import java
.util
.Arrays
;
5 import org
.usfirst
.frc
.team3501
.robot
.commands
.*;
8 private Joystick left
, right
;
11 left
= new Joystick(RobotMap
.LEFT_JOYSTICK_PORT
);
12 right
= new Joystick(RobotMap
.RIGHT_JOYSTICK_PORT
);
14 right
.whenPressed(1, new CloseClaw());
15 right
.whenReleased(1, new OpenClaw());
17 right
.whenPressed(2, new ToggleClaw());
19 right
.whenPressed(11, new TurnOffCompressor());
20 right
.whenPressed(12, new TurnOffCompressor());
22 right
.whenPressed(7, new TurnOnCompressor());
23 right
.whenPressed(8, new TurnOnCompressor());
25 // potential bug point: this should "Just Work" because as soon as
26 // command stops running, left stick pos at 0 should take over...
27 // if that is not the case, arm will continue indefinitely.
28 left
.whileHeld(7, new TensionLeftWinch(RobotMap
.ARM_ADJUST_SPEED
));
29 left
.whileHeld(6, new TensionLeftWinch(-RobotMap
.ARM_ADJUST_SPEED
));
30 left
.whileHeld(11, new TensionRightWinch(RobotMap
.ARM_ADJUST_SPEED
));
31 left
.whileHeld(10, new TensionRightWinch(-RobotMap
.ARM_ADJUST_SPEED
));
34 public double getForwardL() {
38 public double getForwardR() {
42 public double getTwistR() {
43 return right
.getTwist();
46 public boolean getRightPressed(int... buttons
) {
47 return Arrays
.stream(buttons
).anyMatch(b
-> right
.get(b
));