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.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;
  18
  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;
  23
  24 public class OI {
  25   public static Joystick leftJoystick;
  26   public static Joystick rightJoystick;
  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
  53   public static DigitalButton toggleScaling;
  54
  55   public OI() {
  56     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  57     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  58
  59     passPortcullis = new DigitalButton(new DigitalInput(
  60         Constants.OI.PASS_PORTCULLIS_PORT));
  61     passPortcullis.whenPressed(new PassPortcullis());
  62
  63     passChevalDeFrise = new DigitalButton(new DigitalInput(
  64         Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  65     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  66
  67     passDrawbridge = new DigitalButton(new DigitalInput(
  68         Constants.OI.PASS_DRAWBRIDGE_PORT));
  69     passDrawbridge.whenPressed(new PassDrawBridge());
  70
  71     passSallyPort = new DigitalButton(new DigitalInput(
  72         Constants.OI.PASS_SALLYPORT_PORT));
  73     passSallyPort.whenPressed(new PassSallyPort());
  74
  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));
  79
  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));
  84
  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));
  89
  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));
  94
  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());
  99
 100     SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT);
 101     SpinRobot180_2.whenPressed(new Turn180());
 102
 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
 113     toggleScaling = new DigitalButton(new DigitalInput(
 114         Constants.OI.TOGGLE_SCALING_PORT));
 115     toggleScaling.whenPressed(new ToggleScaling());
 116
 117     if (!Constants.Scaler.SCALING) {
 118       compactRobot_1.whenPressed(new CompactRobot());
 119       compactRobot_2.whenPressed(new CompactRobot());
 120
 121       intakeBoulder.whenPressed(new IntakeBall());
 122       shootBoulder.whenPressed(new Shoot());
 123
 124     } else {
 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());
 133
 134       intakeBoulder.whenReleased(new StopWinch());
 135       shootBoulder.whenPressed(new ExtendLift());
 136     }
 137   }
 138 }