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 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 toggleScaling;
  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     passPortcullis.whenPressed(new PassPortcullis());
  66
  67     passChevalDeFrise = new DigitalButton(
  68         new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  69     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  70
  71     passDrawbridge = new DigitalButton(
  72         new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
  73     passDrawbridge.whenPressed(new PassDrawBridge());
  74
  75     passSallyPort = new DigitalButton(
  76         new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  77     passSallyPort.whenPressed(new PassSallyPort());
  78
  79     lowerChevalDeFrise = new DigitalButton(
  80         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  81     lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  82         IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
  83
  84     moveToIntakeBoulder = new DigitalButton(
  85         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  86     moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
  87         IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
  88
  89     poiseAboveChevalDeFrise = new DigitalButton(
  90         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  91     poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
  92         IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
  93
  94     moveIntakeArmInsideRobot = new DigitalButton(
  95         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  96     moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
  97         IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
  98
  99     toggleShooter = new JoystickButton(leftJoystick,
 100         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
 101     SpinRobot180_1 = new JoystickButton(leftJoystick,
 102         Constants.OI.SPIN1_PORT);
 103     SpinRobot180_1.whenPressed(new Turn180());
 104
 105     SpinRobot180_2 = new JoystickButton(leftJoystick,
 106         Constants.OI.SPIN2_PORT);
 107     SpinRobot180_2.whenPressed(new Turn180());
 108
 109     compactRobot_1 = new JoystickButton(leftJoystick,
 110         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
 111     compactRobot_2 = new JoystickButton(leftJoystick,
 112         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
 113
 114     intakeBoulder = new JoystickButton(rightJoystick,
 115         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
 116     shootBoulder = new JoystickButton(rightJoystick,
 117         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 118
 119     toggleScaling = new DigitalButton(
 120         new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
 121     toggleScaling.whenPressed(new ToggleScaling());
 122
 123     if (!Constants.Scaler.SCALING) {
 124       toggleShooter.toggleWhenPressed(new runShooter());
 125       compactRobot_1.whenPressed(new CompactRobot());
 126       compactRobot_2.whenPressed(new CompactRobot());
 127
 128       intakeBoulder.whenPressed(new IntakeBall());
 129       shootBoulder.whenPressed(new Shoot());
 130
 131     } else if (isScalingMode) {
 132       // toggleShooter becomes winch
 133       // compact robot button 1 and 2 retracts the lift
 134       // intake button stops the winch
 135       // shoot button extends the lift
 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 }