1 package org
.usfirst
.frc
.team3501
.robot
;
3 import org
.usfirst
.frc
.team3501
.robot
.commands
.auton
.CompactRobot
;
4 import org
.usfirst
.frc
.team3501
.robot
.commands
.auton
.PassChevalDeFrise
;
5 import org
.usfirst
.frc
.team3501
.robot
.commands
.auton
.PassDrawBridge
;
6 import org
.usfirst
.frc
.team3501
.robot
.commands
.auton
.PassPortcullis
;
7 import org
.usfirst
.frc
.team3501
.robot
.commands
.auton
.PassSallyPort
;
8 import org
.usfirst
.frc
.team3501
.robot
.commands
.driving
.Turn180
;
9 import org
.usfirst
.frc
.team3501
.robot
.commands
.intakearm
.IntakeBall
;
10 import org
.usfirst
.frc
.team3501
.robot
.commands
.intakearm
.MoveIntakeArmToAngle
;
11 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.ExtendLift
;
12 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.RetractLift
;
13 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.RunWinchContinuous
;
14 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.StopWinch
;
15 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.ToggleScaling
;
16 import org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
.Shoot
;
17 import org
.usfirst
.frc
.team3501
.robot
.subsystems
.IntakeArm
;
19 import edu
.wpi
.first
.wpilibj
.DigitalInput
;
20 import edu
.wpi
.first
.wpilibj
.Joystick
;
21 import edu
.wpi
.first
.wpilibj
.buttons
.Button
;
22 import edu
.wpi
.first
.wpilibj
.buttons
.JoystickButton
;
25 public static Joystick leftJoystick
;
26 public static Joystick rightJoystick
;
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
;
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
;
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
;
48 // right joystick buttons
49 public static Button intakeBoulder
;
50 public static Button shootBoulder
;
52 // button to change robot to the scaling mode
53 public static DigitalButton toggleScaling
;
56 leftJoystick
= new Joystick(Constants
.OI
.LEFT_STICK_PORT
);
57 rightJoystick
= new Joystick(Constants
.OI
.RIGHT_STICK_PORT
);
59 passPortcullis
= new DigitalButton(new DigitalInput(
60 Constants
.OI
.PASS_PORTCULLIS_PORT
));
61 passPortcullis
.whenPressed(new PassPortcullis());
63 passChevalDeFrise
= new DigitalButton(new DigitalInput(
64 Constants
.OI
.PASS_CHEVAL_DE_FRISE_PORT
));
65 passChevalDeFrise
.whenPressed(new PassChevalDeFrise());
67 passDrawbridge
= new DigitalButton(new DigitalInput(
68 Constants
.OI
.PASS_DRAWBRIDGE_PORT
));
69 passDrawbridge
.whenPressed(new PassDrawBridge());
71 passSallyPort
= new DigitalButton(new DigitalInput(
72 Constants
.OI
.PASS_SALLYPORT_PORT
));
73 passSallyPort
.whenPressed(new PassSallyPort());
75 lowerChevalDeFrise
= new DigitalButton(new DigitalInput(
76 Constants
.OI
.ARCADE_INTAKEARM_LEVEL_ONE_PORT
));
77 lowerChevalDeFrise
.whenPressed(new MoveIntakeArmToAngle(
78 IntakeArm
.potAngles
[0], IntakeArm
.moveIntakeArmSpeed
));
80 moveToIntakeBoulder
= new DigitalButton(new DigitalInput(
81 Constants
.OI
.ARCADE_INTAKEARM_LEVEL_TWO_PORT
));
82 moveToIntakeBoulder
.whenPressed(new MoveIntakeArmToAngle(
83 IntakeArm
.potAngles
[1], IntakeArm
.moveIntakeArmSpeed
));
85 poiseAboveChevalDeFrise
= new DigitalButton(new DigitalInput(
86 Constants
.OI
.ARCADE_INTAKEARM_LEVEL_THREE_PORT
));
87 poiseAboveChevalDeFrise
.whenPressed(new MoveIntakeArmToAngle(
88 IntakeArm
.potAngles
[2], IntakeArm
.moveIntakeArmSpeed
));
90 moveIntakeArmInsideRobot
= new DigitalButton(new DigitalInput(
91 Constants
.OI
.ARCADE_INTAKEARM_LEVEL_FOUR_PORT
));
92 moveIntakeArmInsideRobot
.whenPressed(new MoveIntakeArmToAngle(
93 IntakeArm
.potAngles
[3], IntakeArm
.moveIntakeArmSpeed
));
95 toggleShooter
= new JoystickButton(leftJoystick
,
96 Constants
.OI
.LEFT_JOYSTICK_TRIGGER_PORT
);
97 SpinRobot180_1
= new JoystickButton(leftJoystick
, Constants
.OI
.SPIN1_PORT
);
98 SpinRobot180_1
.whenPressed(new Turn180());
100 SpinRobot180_2
= new JoystickButton(leftJoystick
, Constants
.OI
.SPIN2_PORT
);
101 SpinRobot180_2
.whenPressed(new Turn180());
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
);
108 intakeBoulder
= new JoystickButton(rightJoystick
,
109 Constants
.OI
.RIGHT_JOYSTICK_TRIGGER_PORT
);
110 shootBoulder
= new JoystickButton(rightJoystick
,
111 Constants
.OI
.RIGHT_JOYSTICK_THUMB_PORT
);
113 toggleScaling
= new DigitalButton(new DigitalInput(
114 Constants
.OI
.TOGGLE_SCALING_PORT
));
115 toggleScaling
.whenPressed(new ToggleScaling());
117 if (!Constants
.Scaler
.SCALING
) {
118 compactRobot_1
.whenPressed(new CompactRobot());
119 compactRobot_2
.whenPressed(new CompactRobot());
121 intakeBoulder
.whenPressed(new IntakeBall());
122 shootBoulder
.whenPressed(new Shoot());
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
129 toggleShooter
.whenPressed(new RunWinchContinuous(
130 Constants
.Scaler
.SCALE_SPEED
, Constants
.Scaler
.SECONDS_TO_SCALE
));
131 compactRobot_1
.whenPressed(new RetractLift());
132 compactRobot_2
.whenPressed(new RetractLift());
134 intakeBoulder
.whenReleased(new StopWinch());
135 shootBoulder
.whenPressed(new ExtendLift());