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.PassChevalDeFrise;
   4 import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge;
   5 import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis;
   6 import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
   7 import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
   8 import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
   9 import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
  10 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
  11 import org.usfirst.frc.team3501.robot.commands.shooter.runShooter;
  12
  13 import edu.wpi.first.wpilibj.DigitalInput;
  14 import edu.wpi.first.wpilibj.Joystick;
  15 import edu.wpi.first.wpilibj.buttons.Button;
  16 import edu.wpi.first.wpilibj.buttons.JoystickButton;
  17 import edu.wpi.first.wpilibj.command.Scheduler;
  18
  19 public class OI {
  20   public static boolean isScalingMode = false;
  21   public static boolean isCompactRobot = false;
  22
  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 toggleScalingMode;
  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     passChevalDeFrise = new DigitalButton(
  60         new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
  61     passDrawbridge = new DigitalButton(
  62         new DigitalInput(Constants.OI.PASS_DRAWBRIDGE));
  63     passSallyPort = new DigitalButton(
  64         new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
  65
  66     lowerChevalDeFrise = new DigitalButton(
  67         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
  68     moveToIntakeBoulder = new DigitalButton(
  69         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
  70     poiseAboveChevalDeFrise = new DigitalButton(
  71         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
  72     moveIntakeArmInsideRobot = new DigitalButton(
  73         new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
  74
  75     toggleShooter = new JoystickButton(leftJoystick,
  76         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
  77     SpinRobot180_1 = new JoystickButton(leftJoystick,
  78         Constants.OI.LEFT_JOYSTICK_TOP_LEFT_PORT);
  79     SpinRobot180_2 = new JoystickButton(leftJoystick,
  80         Constants.OI.LEFT_JOYSTICK_TOP_RIGHT_PORT);
  81     compactRobot_1 = new JoystickButton(leftJoystick,
  82         Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
  83     compactRobot_2 = new JoystickButton(leftJoystick,
  84         Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
  85
  86     intakeBoulder = new JoystickButton(rightJoystick,
  87         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
  88     shootBoulder = new JoystickButton(rightJoystick,
  89         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
  90
  91     toggleScalingMode = new DigitalButton(
  92         new DigitalInput(Constants.OI.SCALING_BUTTON_PORT));
  93
  94     passPortcullis.whenPressed(new PassPortcullis());
  95     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
  96     passDrawbridge.whenPressed(new PassDrawBridge());
  97     passSallyPort.whenPressed(new PassSallyPort());
  98
  99     lowerChevalDeFrise
 100         .whenPressed(/* TO DO: define this, and fill in commands */);
 101
 102     if (toggleScalingMode.get()) {
 103       if (!isScalingMode) {
 104         isScalingMode = true;
 105         if (!isCompactRobot) {
 106           Scheduler.getInstance().add(new CompactRobot());
 107           isCompactRobot = true;
 108         }
 109       } else if (isScalingMode) {
 110         isScalingMode = false;
 111         Scheduler.getInstance().add(new CompactRobot());
 112       }
 113     }
 114
 115     if (!isScalingMode) {
 116       toggleShooter.toggleWhenPressed(new runShooter());
 117       compactRobot_1.whenPressed(new CompactRobot());
 118
 119       intakeBoulder.whenPressed(new IntakeBall());
 120       shootBoulder.whenPressed(new Shoot());
 121
 122     } else if (isScalingMode) {
 123       toggleShooter.toggleWhenPressed(new WinchIn());
 124       compactRobot_1.whenPressed(new RetractLift());
 125
 126       intakeBoulder.toggleWhenPressed(new WinchOut());
 127       shootBoulder.whenPressed(new ExtendLift());
 128     }
 129
 130     SpinRobot180_1
 131         .whenPressed(/* rotate robot 180, reorient joystick controls */);
 132
 133   }
 134 }