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38a404b3 KZ |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
54c588d9 | 3 | import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot; |
6b06b2bc CZ |
4 | import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise; |
5 | import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge; | |
8a3090b5 | 6 | import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis; |
6b06b2bc | 7 | import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort; |
54c588d9 | 8 | import org.usfirst.frc.team3501.robot.commands.driving.Turn180; |
6b06b2bc | 9 | import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall; |
54c588d9 | 10 | import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle; |
6b06b2bc CZ |
11 | import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift; |
12 | import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift; | |
1bfa24f2 CZ |
13 | import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous; |
14 | import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch; | |
52ef246c | 15 | import org.usfirst.frc.team3501.robot.commands.scaler.ToggleScaling; |
6b06b2bc | 16 | import org.usfirst.frc.team3501.robot.commands.shooter.Shoot; |
54c588d9 | 17 | import org.usfirst.frc.team3501.robot.subsystems.IntakeArm; |
37e5a121 | 18 | |
6b06b2bc | 19 | import edu.wpi.first.wpilibj.DigitalInput; |
38a404b3 | 20 | import edu.wpi.first.wpilibj.Joystick; |
cb3389eb E |
21 | import edu.wpi.first.wpilibj.buttons.Button; |
22 | import edu.wpi.first.wpilibj.buttons.JoystickButton; | |
38a404b3 KZ |
23 | |
24 | public class OI { | |
25 | public static Joystick leftJoystick; | |
26 | public static Joystick rightJoystick; | |
6b06b2bc CZ |
27 | |
28 | // first column of arcade buttons - getting past defenses | |
29 | public static DigitalButton passPortcullis; | |
30 | public static DigitalButton passChevalDeFrise; | |
31 | public static DigitalButton passDrawbridge; | |
32 | public static DigitalButton passSallyPort; | |
33 | ||
34 | // second column of arcade buttons - different angles for intake arm | |
35 | // TO DO: change position numbers to angle values (?) | |
36 | public static DigitalButton lowerChevalDeFrise; | |
37 | public static DigitalButton moveToIntakeBoulder; | |
38 | public static DigitalButton poiseAboveChevalDeFrise; | |
39 | public static DigitalButton moveIntakeArmInsideRobot; | |
40 | ||
41 | // left joystick buttons | |
42 | public static Button toggleShooter; | |
43 | public static Button SpinRobot180_1; // both do the same thing, just two | |
44 | public static Button SpinRobot180_2; // different buttons | |
45 | public static Button compactRobot_1; | |
46 | public static Button compactRobot_2; | |
47 | ||
48 | // right joystick buttons | |
49 | public static Button intakeBoulder; | |
50 | public static Button shootBoulder; | |
51 | ||
52 | // button to change robot to the scaling mode | |
52ef246c | 53 | public static DigitalButton toggleScaling; |
38a404b3 KZ |
54 | |
55 | public OI() { | |
56 | leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT); | |
57 | rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT); | |
58 | ||
e4fbab02 HD |
59 | passPortcullis = new DigitalButton(new DigitalInput( |
60 | Constants.OI.PASS_PORTCULLIS_PORT)); | |
52ef246c KZ |
61 | passPortcullis.whenPressed(new PassPortcullis()); |
62 | ||
e4fbab02 HD |
63 | passChevalDeFrise = new DigitalButton(new DigitalInput( |
64 | Constants.OI.PASS_CHEVAL_DE_FRISE_PORT)); | |
52ef246c KZ |
65 | passChevalDeFrise.whenPressed(new PassChevalDeFrise()); |
66 | ||
e4fbab02 HD |
67 | passDrawbridge = new DigitalButton(new DigitalInput( |
68 | Constants.OI.PASS_DRAWBRIDGE_PORT)); | |
52ef246c KZ |
69 | passDrawbridge.whenPressed(new PassDrawBridge()); |
70 | ||
e4fbab02 HD |
71 | passSallyPort = new DigitalButton(new DigitalInput( |
72 | Constants.OI.PASS_SALLYPORT_PORT)); | |
52ef246c | 73 | passSallyPort.whenPressed(new PassSallyPort()); |
6b06b2bc | 74 | |
e4fbab02 HD |
75 | lowerChevalDeFrise = new DigitalButton(new DigitalInput( |
76 | Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT)); | |
52ef246c KZ |
77 | lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
78 | IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed)); | |
79 | ||
e4fbab02 HD |
80 | moveToIntakeBoulder = new DigitalButton(new DigitalInput( |
81 | Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT)); | |
52ef246c KZ |
82 | moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle( |
83 | IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed)); | |
84 | ||
e4fbab02 HD |
85 | poiseAboveChevalDeFrise = new DigitalButton(new DigitalInput( |
86 | Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT)); | |
52ef246c KZ |
87 | poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle( |
88 | IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed)); | |
89 | ||
e4fbab02 HD |
90 | moveIntakeArmInsideRobot = new DigitalButton(new DigitalInput( |
91 | Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT)); | |
52ef246c KZ |
92 | moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle( |
93 | IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed)); | |
6b06b2bc CZ |
94 | |
95 | toggleShooter = new JoystickButton(leftJoystick, | |
96 | Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT); | |
e4fbab02 | 97 | SpinRobot180_1 = new JoystickButton(leftJoystick, Constants.OI.SPIN1_PORT); |
52ef246c KZ |
98 | SpinRobot180_1.whenPressed(new Turn180()); |
99 | ||
e4fbab02 | 100 | SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT); |
52ef246c KZ |
101 | SpinRobot180_2.whenPressed(new Turn180()); |
102 | ||
6b06b2bc CZ |
103 | compactRobot_1 = new JoystickButton(leftJoystick, |
104 | Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT); | |
105 | compactRobot_2 = new JoystickButton(leftJoystick, | |
106 | Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT); | |
107 | ||
108 | intakeBoulder = new JoystickButton(rightJoystick, | |
109 | Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT); | |
110 | shootBoulder = new JoystickButton(rightJoystick, | |
111 | Constants.OI.RIGHT_JOYSTICK_THUMB_PORT); | |
112 | ||
e4fbab02 HD |
113 | toggleScaling = new DigitalButton(new DigitalInput( |
114 | Constants.OI.TOGGLE_SCALING_PORT)); | |
52ef246c | 115 | toggleScaling.whenPressed(new ToggleScaling()); |
6b06b2bc | 116 | |
52ef246c | 117 | if (!Constants.Scaler.SCALING) { |
6b06b2bc | 118 | compactRobot_1.whenPressed(new CompactRobot()); |
54c588d9 | 119 | compactRobot_2.whenPressed(new CompactRobot()); |
6b06b2bc CZ |
120 | |
121 | intakeBoulder.whenPressed(new IntakeBall()); | |
122 | shootBoulder.whenPressed(new Shoot()); | |
cb3389eb | 123 | |
2c52b14f | 124 | } else { |
52ef246c KZ |
125 | // toggleShooter becomes winch |
126 | // compact robot button 1 and 2 retracts the lift | |
127 | // intake button stops the winch | |
128 | // shoot button extends the lift | |
1bfa24f2 | 129 | toggleShooter.whenPressed(new RunWinchContinuous( |
eab4ce91 | 130 | Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE)); |
6b06b2bc | 131 | compactRobot_1.whenPressed(new RetractLift()); |
54c588d9 | 132 | compactRobot_2.whenPressed(new RetractLift()); |
7a949394 | 133 | |
1bfa24f2 | 134 | intakeBoulder.whenReleased(new StopWinch()); |
6b06b2bc CZ |
135 | shootBoulder.whenPressed(new ExtendLift()); |
136 | } | |
38a404b3 KZ |
137 | } |
138 | } |