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.Constants.IntakeArm;
   4 import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
   5 import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
   6 import org.usfirst.frc.team3501.robot.commands.driving.ToggleFront;
   7 import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArm;
   8 import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntakeContinuous;
   9 import org.usfirst.frc.team3501.robot.commands.shooter.FireCatapult;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
  11
  12 import edu.wpi.first.wpilibj.Joystick;
  13 import edu.wpi.first.wpilibj.buttons.Button;
  14 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  15
  16 public class OI {
  17   public static Joystick leftJoystick;
  18   public static Joystick rightJoystick;
  19
  20   // left joystick buttons
  21   public static Button gearShift;
  22   public static Button extendIntake1;
  23   public static Button extendIntake2;
  24   public static Button retractIntake1;
  25   public static Button retractIntake2;
  26   public static Button toggleFront;
  27
  28   // right joystick buttons
  29   public static Button intake;
  30   public static Button outtake1;
  31   public static Button outtake2;
  32   public static Button shooterUp;
  33   public static Button shooterDown1;
  34   public static Button shooterDown2;
  35
  36   public OI() {
  37     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
  38     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  39
  40     // Left joystick
  41     gearShift = new JoystickButton(leftJoystick,
  42         Constants.OI.LEFT_JOYSTICK_GEAR_SHIFT_PORT);
  43     gearShift.whenPressed(new SetHighGear());
  44     gearShift.whenReleased(new SetLowGear());
  45
  46     extendIntake1 = new JoystickButton(leftJoystick,
  47         Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT);
  48     extendIntake1.whenPressed(new MoveIntakeArm(IntakeArm.EXTEND));
  49
  50     extendIntake2 = new JoystickButton(leftJoystick,
  51         Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT);
  52     extendIntake2.whenPressed(new MoveIntakeArm(IntakeArm.EXTEND));
  53
  54     retractIntake1 = new JoystickButton(leftJoystick,
  55         Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT);
  56     retractIntake1.whenPressed(new MoveIntakeArm(IntakeArm.RETRACT));
  57
  58     retractIntake2 = new JoystickButton(leftJoystick,
  59         Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT);
  60     retractIntake2.whenPressed(new MoveIntakeArm(IntakeArm.RETRACT));
  61
  62     toggleFront = new JoystickButton(leftJoystick,
  63         Constants.OI.LEFT_JOYSTICK_TOGGLE_FRONT_PORT);
  64     toggleFront.whenPressed(new ToggleFront());
  65
  66     // Right joystick
  67     intake = new JoystickButton(rightJoystick,
  68         Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
  69     intake.whenPressed(new RunIntakeContinuous(IntakeArm.IN));
  70     intake.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
  71
  72     outtake1 = new JoystickButton(rightJoystick,
  73         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
  74     outtake1.whenPressed(new RunIntakeContinuous(IntakeArm.OUT));
  75     outtake1.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
  76
  77     outtake2 = new JoystickButton(rightJoystick,
  78         Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
  79     outtake2.whenPressed(new RunIntakeContinuous(IntakeArm.OUT));
  80     outtake2.whenReleased(new RunIntakeContinuous(IntakeArm.STOP));
  81
  82     shooterUp = new JoystickButton(rightJoystick,
  83         Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);
  84     shooterUp.whenPressed(new FireCatapult());
  85
  86     shooterDown1 = new JoystickButton(rightJoystick,
  87         Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT);
  88     shooterDown1.whenPressed(new ResetCatapult());
  89
  90     shooterDown2 = new JoystickButton(rightJoystick,
  91         Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT);
  92     shooterDown2.whenPressed(new ResetCatapult());
  93   }
  94 }