challenge-bot.com Git - 3501/stronghold-2016/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.driving.SetHighGear;
   4 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   5 import org.usfirst.frc.team3501.robot.commands.driving.ToggleFront;
   6 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
   7 import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntake;
   8 import org.usfirst.frc.team3501.robot.commands.shooter.FireCatapult;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
  10
  11 import edu.wpi.first.wpilibj.Joystick;
  12 import edu.wpi.first.wpilibj.buttons.Button;
  13 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  14
  15 public class OI {
  16   public static Joystick leftJoystick;
  17   public static Joystick rightJoystick;
  18
  19   // left joystick buttons
  20   public static Button gearShift;
  21   public static Button extendIntake1;
  22   public static Button extendIntake2;
  23   public static Button retractIntake1;
  24   public static Button retractIntake2;
  25   public static Button toggleFront;
  26
  27   // right joystick buttons
  28   public static Button intake;
  29   public static Button outtake1;
  30   public static Button outtake2;
  31   public static Button shooterUp;
  32   public static Button shooterDown1;
  33   public static Button shooterDown2;
  34
  35   public OI() {
  36     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  37     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  38
  39     // Left joystick
  40     gearShift = new JoystickButton(leftJoystick,
  41         Constants.OI.LEFT_JOYSTICK_GEAR_SHIFT_PORT);
  42     gearShift.whenPressed(new SetLowGear());
  43     gearShift.whenReleased(new SetHighGear());
  44
  45     extendIntake1 = new JoystickButton(leftJoystick,
  46         Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT);
  47     extendIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
  48
  49     extendIntake2 = new JoystickButton(leftJoystick,
  50         Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT);
  51     extendIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
  52
  53     retractIntake1 = new JoystickButton(leftJoystick,
  54         Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT);
  55     retractIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
  56
  57     retractIntake2 = new JoystickButton(leftJoystick,
  58         Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT);
  59     retractIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
  60
  61     toggleFront = new JoystickButton(leftJoystick,
  62         Constants.OI.LEFT_JOYSTICK_TOGGLE_FRONT_PORT);
  63     toggleFront.whenPressed(new ToggleFront());
  64
  65     // Right joystick
  66     intake = new JoystickButton(rightJoystick,
  67         Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
  68     intake.whenPressed(new RunIntake(Constants.IntakeArm.IN));
  69     intake.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
  70
  71     outtake1 = new JoystickButton(rightJoystick,
  72         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
  73     outtake1.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
  74     outtake1.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
  75
  76     outtake2 = new JoystickButton(rightJoystick,
  77         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
  78     outtake2.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
  79     outtake2.whenReleased(new RunIntake(Constants.IntakeArm.STOP));
  80
  81     shooterUp = new JoystickButton(rightJoystick,
  82         Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);
  83     shooterUp.whenPressed(new FireCatapult());
  84
  85     shooterDown1 = new JoystickButton(rightJoystick,
  86         Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT);
  87     shooterDown1.whenPressed(new ResetCatapult());
  88
  89     shooterDown2 = new JoystickButton(rightJoystick,
  90         Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT);
  91     shooterDown2.whenPressed(new ResetCatapult());
  92   }
  93 }