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