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
.scaler
.ExtendLift
;
11 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.RetractLift
;
12 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.RunWinchContinuous
;
13 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.StopWinch
;
14 import org
.usfirst
.frc
.team3501
.robot
.commands
.scaler
.ToggleScaling
;
15 import org
.usfirst
.frc
.team3501
.robot
.commands
.shooter
.Shoot
;
17 import edu
.wpi
.first
.wpilibj
.DigitalInput
;
18 import edu
.wpi
.first
.wpilibj
.Joystick
;
19 import edu
.wpi
.first
.wpilibj
.buttons
.Button
;
20 import edu
.wpi
.first
.wpilibj
.buttons
.JoystickButton
;
23 public static Joystick leftJoystick
;
24 public static Joystick rightJoystick
;
26 // first column of arcade buttons - getting past defenses
27 public static DigitalButton passPortcullis
;
28 public static DigitalButton passChevalDeFrise
;
29 public static DigitalButton passDrawbridge
;
30 public static DigitalButton passSallyPort
;
32 // second column of arcade buttons - different angles for intake arm
33 // TO DO: change position numbers to angle values (?)
34 public static DigitalButton lowerChevalDeFrise
;
35 public static DigitalButton moveToIntakeBoulder
;
36 public static DigitalButton poiseAboveChevalDeFrise
;
37 public static DigitalButton moveIntakeArmInsideRobot
;
39 // left joystick buttons
40 public static Button toggleShooter
;
41 public static Button SpinRobot180_1
; // both do the same thing, just two
42 public static Button SpinRobot180_2
; // different buttons
43 public static Button compactRobot_1
;
44 public static Button compactRobot_2
;
46 // right joystick buttons
47 public static Button intakeBoulder
;
48 public static Button shootBoulder
;
50 // button to change robot to the scaling mode
51 public static DigitalButton toggleScaling
;
54 leftJoystick
= new Joystick(Constants
.OI
.LEFT_STICK_PORT
);
55 rightJoystick
= new Joystick(Constants
.OI
.RIGHT_STICK_PORT
);
57 passPortcullis
= new DigitalButton(
58 new DigitalInput(Constants
.OI
.PASS_PORTCULLIS_PORT
));
59 passPortcullis
.whenPressed(new PassPortcullis());
61 passChevalDeFrise
= new DigitalButton(
62 new DigitalInput(Constants
.OI
.PASS_CHEVAL_DE_FRISE_PORT
));
63 passChevalDeFrise
.whenPressed(new PassChevalDeFrise());
65 passDrawbridge
= new DigitalButton(
66 new DigitalInput(Constants
.OI
.PASS_DRAWBRIDGE_PORT
));
67 passDrawbridge
.whenPressed(new PassDrawBridge());
69 passSallyPort
= new DigitalButton(
70 new DigitalInput(Constants
.OI
.PASS_SALLYPORT_PORT
));
71 passSallyPort
.whenPressed(new PassSallyPort());
73 moveToIntakeBoulder
= new DigitalButton(
74 new DigitalInput(Constants
.OI
.ARCADE_INTAKEARM_LEVEL_TWO_PORT
));
76 toggleShooter
= new JoystickButton(leftJoystick
,
77 Constants
.OI
.LEFT_JOYSTICK_TRIGGER_PORT
);
78 SpinRobot180_1
= new JoystickButton(leftJoystick
, Constants
.OI
.SPIN1_PORT
);
79 SpinRobot180_1
.whenPressed(new Turn180());
81 SpinRobot180_2
= new JoystickButton(leftJoystick
, Constants
.OI
.SPIN2_PORT
);
82 SpinRobot180_2
.whenPressed(new Turn180());
84 compactRobot_1
= new JoystickButton(leftJoystick
,
85 Constants
.OI
.LEFT_JOYSTICK_TOP_CENTER_PORT
);
86 compactRobot_2
= new JoystickButton(leftJoystick
,
87 Constants
.OI
.LEFT_JOYSTICK_TOP_LOW_PORT
);
89 intakeBoulder
= new JoystickButton(rightJoystick
,
90 Constants
.OI
.RIGHT_JOYSTICK_TRIGGER_PORT
);
91 shootBoulder
= new JoystickButton(rightJoystick
,
92 Constants
.OI
.RIGHT_JOYSTICK_THUMB_PORT
);
94 toggleScaling
= new DigitalButton(
95 new DigitalInput(Constants
.OI
.TOGGLE_SCALING_PORT
));
96 toggleScaling
.whenPressed(new ToggleScaling());
98 if (!Constants
.Scaler
.SCALING
) {
99 compactRobot_1
.whenPressed(new CompactRobot());
100 compactRobot_2
.whenPressed(new CompactRobot());
102 intakeBoulder
.whenPressed(new IntakeBall());
103 shootBoulder
.whenPressed(new Shoot());
106 // toggleShooter becomes winch
107 // compact robot button 1 and 2 retracts the lift
108 // intake button stops the winch
109 // shoot button extends the lift
110 toggleShooter
.whenPressed(new RunWinchContinuous(
111 Constants
.Scaler
.SCALE_SPEED
, Constants
.Scaler
.SECONDS_TO_SCALE
));
112 compactRobot_1
.whenPressed(new RetractLift());
113 compactRobot_2
.whenPressed(new RetractLift());
115 intakeBoulder
.whenReleased(new StopWinch());
116 shootBoulder
.whenPressed(new ExtendLift());