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.commands.shooter.runShooter;
  18 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
  19
  20 import edu.wpi.first.wpilibj.DigitalInput;
  21 import edu.wpi.first.wpilibj.Joystick;
  22 import edu.wpi.first.wpilibj.buttons.Button;
  23 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  24
  25 public class OI {
  26   public static Joystick leftJoystick;
  27   public static Joystick rightJoystick;
  28
  29   // first column of arcade buttons - getting past defenses
  30   public static DigitalButton passPortcullis;
  31   public static DigitalButton passChevalDeFrise;
  32   public static DigitalButton passDrawbridge;
  33   public static DigitalButton passSallyPort;
  34
  35   // second column of arcade buttons - different angles for intake arm
  36   // TO DO: change position numbers to angle values (?)
  37   public static DigitalButton lowerChevalDeFrise;
  38   public static DigitalButton moveToIntakeBoulder;
  39   public static DigitalButton poiseAboveChevalDeFrise;
  40   public static DigitalButton moveIntakeArmInsideRobot;
  41
  42   // left joystick buttons
  43   public static Button toggleShooter;
  44   public static Button SpinRobot180_1; // both do the same thing, just two
  45   public static Button SpinRobot180_2; // different buttons
  46   public static Button compactRobot_1;
  47   public static Button compactRobot_2;
  48
  49   // right joystick buttons
  50   public static Button intakeBoulder;
  51   public static Button shootBoulder;
  52
  53   // button to change robot to the scaling mode
  54   public static DigitalButton toggleScaling;
  55
  56   public OI() {
  57     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  58     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  59
  60     passPortcullis = new DigitalButton(
  61         new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
  62     passPortcullis.whenPressed(new PassPortcullis());
  63
  64     passChevalDeFrise = new DigitalButton(
  65         new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  66     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  67
  68     passDrawbridge = new DigitalButton(
  69         new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  70     passDrawbridge.whenPressed(new PassDrawBridge());
  71
  72     passSallyPort = new DigitalButton(
  73         new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  74     passSallyPort.whenPressed(new PassSallyPort());
  75
  76     lowerChevalDeFrise = new DigitalButton(
  77         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  78     lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  79         IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  80
  81     moveToIntakeBoulder = new DigitalButton(
  82         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  83     moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  84         IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  85
  86     poiseAboveChevalDeFrise = new DigitalButton(
  87         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  88     poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  89         IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  90
  91     moveIntakeArmInsideRobot = new DigitalButton(
  92         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  93     moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
  94         IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
  95
  96     toggleShooter = new JoystickButton(leftJoystick,
  97         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  98     SpinRobot180_1 = new JoystickButton(leftJoystick,
  99         Constants.OI.SPIN1_PORT);
 100     SpinRobot180_1.whenPressed(new Turn180());
 101
 102     SpinRobot180_2 = new JoystickButton(leftJoystick,
 103         Constants.OI.SPIN2_PORT);
 104     SpinRobot180_2.whenPressed(new Turn180());
 105
 106     compactRobot_1 = new JoystickButton(leftJoystick,
 107         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 108     compactRobot_2 = new JoystickButton(leftJoystick,
 109         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 110
 111     intakeBoulder = new JoystickButton(rightJoystick,
 112         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 113     shootBoulder = new JoystickButton(rightJoystick,
 114         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 115
 116     toggleScaling = new DigitalButton(
 117         new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 118     toggleScaling.whenPressed(new ToggleScaling());
 119
 120     if (!Constants.Scaler.SCALING) {
 121       toggleShooter.toggleWhenPressed(new runShooter());
 122       compactRobot_1.whenPressed(new CompactRobot());
 123       compactRobot_2.whenPressed(new CompactRobot());
 124
 125       intakeBoulder.whenPressed(new IntakeBall());
 126       shootBoulder.whenPressed(new Shoot());
 127
 128     } else {
 129       // toggleShooter becomes winch
 130       // compact robot button 1 and 2 retracts the lift
 131       // intake button stops the winch
 132       // shoot button extends the lift
 133       toggleShooter.whenPressed(new RunWinchContinuous(
 134           Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
 135       compactRobot_1.whenPressed(new RetractLift());
 136       compactRobot_2.whenPressed(new RetractLift());
 137
 138       intakeBoulder.whenReleased(new StopWinch());
 139       shootBoulder.whenPressed(new ExtendLift());
 140     }
 141   }
 142 }