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.shooter.Shoot;
  16 import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
  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 import edu.wpi.first.wpilibj.command.Scheduler;
  24
  25 public class OI {
  26   public static boolean isScalingMode = false;
  27   public static boolean isCompactRobot = false;
  28
  29   public static Joystick leftJoystick;
  30   public static Joystick rightJoystick;
  31
  32   // first column of arcade buttons - getting past defenses
  33   public static DigitalButton passPortcullis;
  34   public static DigitalButton passChevalDeFrise;
  35   public static DigitalButton passDrawbridge;
  36   public static DigitalButton passSallyPort;
  37
  38   // second column of arcade buttons - different angles for intake arm
  39   // TO DO: change position numbers to angle values (?)
  40   public static DigitalButton lowerChevalDeFrise;
  41   public static DigitalButton moveToIntakeBoulder;
  42   public static DigitalButton poiseAboveChevalDeFrise;
  43   public static DigitalButton moveIntakeArmInsideRobot;
  44
  45   // left joystick buttons
  46   public static Button toggleShooter;
  47   public static Button SpinRobot180_1; // both do the same thing, just two
  48   public static Button SpinRobot180_2; // different buttons
  49   public static Button compactRobot_1;
  50   public static Button compactRobot_2;
  51
  52   // right joystick buttons
  53   public static Button intakeBoulder;
  54   public static Button shootBoulder;
  55
  56   // button to change robot to the scaling mode
  57   public static DigitalButton toggleScalingMode;
  58
  59   public OI() {
  60     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  61     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  62
  63     passPortcullis = new DigitalButton(
  64         new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  65     passChevalDeFrise = new DigitalButton(
  66         new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  67     passDrawbridge = new DigitalButton(
  68         new DigitalInput(Constants.OI.PASS_DRAWBRIDGE));
  69     passSallyPort = new DigitalButton(
  70         new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  71
  72     lowerChevalDeFrise = new DigitalButton(
  73         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  74     moveToIntakeBoulder = new DigitalButton(
  75         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  76     poiseAboveChevalDeFrise = new DigitalButton(
  77         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  78     moveIntakeArmInsideRobot = new DigitalButton(
  79         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  80
  81     toggleShooter = new JoystickButton(leftJoystick,
  82         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  83     SpinRobot180_1 = new JoystickButton(leftJoystick,
  84         Constants.OI.LEFT_JOYSTICK_TOP_LEFT_PORT);
  85     SpinRobot180_2 = new JoystickButton(leftJoystick,
  86         Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT);
  87     compactRobot_1 = new JoystickButton(leftJoystick,
  88         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
  89     compactRobot_2 = new JoystickButton(leftJoystick,
  90         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
  91
  92     intakeBoulder = new JoystickButton(rightJoystick,
  93         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
  94     shootBoulder = new JoystickButton(rightJoystick,
  95         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
  96
  97     toggleScalingMode = new DigitalButton(
  98         new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
  99
 100     passPortcullis.whenPressed(new PassPortcullis());
 101     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
 102     passDrawbridge.whenPressed(new PassDrawBridge());
 103     passSallyPort.whenPressed(new PassSallyPort());
 104
 105     lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
 106         IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
 107     moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
 108         IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
 109     poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
 110         IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
 111     moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
 112         IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
 113
 114     if (toggleScalingMode.get()) {
 115       if (!isScalingMode) {
 116         isScalingMode = true;
 117         if (!isCompactRobot) {
 118           Scheduler.getInstance().add(new CompactRobot());
 119           isCompactRobot = true;
 120         }
 121       } else if (isScalingMode) {
 122         isScalingMode = false;
 123         Scheduler.getInstance().add(new CompactRobot());
 124       }
 125     }
 126
 127     if (!isScalingMode) {
 128       toggleShooter.toggleWhenPressed(new runShooter());
 129       compactRobot_1.whenPressed(new CompactRobot());
 130       compactRobot_2.whenPressed(new CompactRobot());
 131
 132       intakeBoulder.whenPressed(new IntakeBall());
 133       shootBoulder.whenPressed(new Shoot());
 134
 135     } else if (isScalingMode) {
 136       toggleShooter.whenPressed(new RunWinchContinuous(
 137           Constants.Scaler.WINCH_IN_SPEED));
 138       compactRobot_1.whenPressed(new RetractLift());
 139       compactRobot_2.whenPressed(new RetractLift());
 140
 141       intakeBoulder.whenReleased(new StopWinch());
 142       shootBoulder.whenPressed(new ExtendLift());
 143     }
 144
 145     SpinRobot180_1.whenPressed(new Turn180());
 146     SpinRobot180_2.whenPressed(new Turn180());
 147   }
 148 }