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.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;
  16
  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;
  21
  22 public class OI {
  23   public static Joystick leftJoystick;
  24   public static Joystick rightJoystick;
  25
  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;
  31
  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;
  38
  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;
  45
  46   // right joystick buttons
  47   public static Button intakeBoulder;
  48   public static Button shootBoulder;
  49
  50   // button to change robot to the scaling mode
  51   public static DigitalButton toggleScaling;
  52
  53   public OI() {
  54     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  55     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  56
  57     passPortcullis = new DigitalButton(
  58         new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  59     passPortcullis.whenPressed(new PassPortcullis());
  60
  61     passChevalDeFrise = new DigitalButton(
  62         new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  63     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  64
  65     passDrawbridge = new DigitalButton(
  66         new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  67     passDrawbridge.whenPressed(new PassDrawBridge());
  68
  69     passSallyPort = new DigitalButton(
  70         new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  71     passSallyPort.whenPressed(new PassSallyPort());
  72
  73     moveToIntakeBoulder = new DigitalButton(
  74         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  75
  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());
  80
  81     SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT);
  82     SpinRobot180_2.whenPressed(new Turn180());
  83
  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);
  88
  89     intakeBoulder = new JoystickButton(rightJoystick,
  90         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
  91     shootBoulder = new JoystickButton(rightJoystick,
  92         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
  93
  94     toggleScaling = new DigitalButton(
  95         new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
  96     toggleScaling.whenPressed(new ToggleScaling());
  97
  98     if (!Constants.Scaler.SCALING) {
  99       compactRobot_1.whenPressed(new CompactRobot());
 100       compactRobot_2.whenPressed(new CompactRobot());
 101
 102       intakeBoulder.whenPressed(new IntakeBall());
 103       shootBoulder.whenPressed(new Shoot());
 104
 105     } else {
 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());
 114
 115       intakeBoulder.whenReleased(new StopWinch());
 116       shootBoulder.whenPressed(new ExtendLift());
 117     }
 118   }
 119 }