Recode everything for new robot

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / OI.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 491b71c61946103034c9841697e420dca814a5e8..b59fe49023cba03f405498d68fab552bec7eb42f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,20 +1,14 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.auton.CompactRobot;
-import org.usfirst.frc.team3501.robot.commands.auton.PassChevalDeFrise;
-import org.usfirst.frc.team3501.robot.commands.auton.PassDrawBridge;
-import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis;
-import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
-import org.usfirst.frc.team3501.robot.commands.driving.Turn180;
-import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
-import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
-import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
-import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous;
-import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch;
-import org.usfirst.frc.team3501.robot.commands.scaler.ToggleScaling;
+import org.usfirst.frc.team3501.robot.commands.driving.SetHighGear;
+import org.usfirst.frc.team3501.robot.commands.driving.SetLowGear;
+import org.usfirst.frc.team3501.robot.commands.driving.ToggleFront;
+import org.usfirst.frc.team3501.robot.commands.intakearm.RunIntake;
+import org.usfirst.frc.team3501.robot.commands.intakearm.StopIntake;
 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
+import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
+
 
-import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
@@ -23,97 +17,36 @@ public class OI {
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
 
-  // first column of arcade buttons - getting past defenses
-  public static DigitalButton passPortcullis;
-  public static DigitalButton passChevalDeFrise;
-  public static DigitalButton passDrawbridge;
-  public static DigitalButton passSallyPort;
-
-  // second column of arcade buttons - different angles for intake arm
-  // TO DO: change position numbers to angle values (?)
-  public static DigitalButton lowerChevalDeFrise;
-  public static DigitalButton moveToIntakeBoulder;
-  public static DigitalButton poiseAboveChevalDeFrise;
-  public static DigitalButton moveIntakeArmInsideRobot;
-
   // left joystick buttons
-  public static Button toggleShooter;
-  public static Button SpinRobot180_1; // both do the same thing, just two
-  public static Button SpinRobot180_2; // different buttons
-  public static Button compactRobot_1;
-  public static Button compactRobot_2;
+  public static Button gearTrigger;
 
   // right joystick buttons
-  public static Button intakeBoulder;
+  public static Button intakeTrigger;
   public static Button shootBoulder;
-
-  // button to change robot to the scaling mode
-  public static DigitalButton toggleScaling;
+  public static Button toggleFront;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    passPortcullis = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
-    passPortcullis.whenPressed(new PassPortcullis());
-
-    passChevalDeFrise = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
-    passChevalDeFrise.whenPressed(new PassChevalDeFrise());
-
-    passDrawbridge = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
-    passDrawbridge.whenPressed(new PassDrawBridge());
-
-    passSallyPort = new DigitalButton(
-        new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
-    passSallyPort.whenPressed(new PassSallyPort());
-
-    moveToIntakeBoulder = new DigitalButton(
-        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
-
-    toggleShooter = new JoystickButton(leftJoystick,
+    // Left joystick
+    gearTrigger = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
-    SpinRobot180_1 = new JoystickButton(leftJoystick, Constants.OI.SPIN1_PORT);
-    SpinRobot180_1.whenPressed(new Turn180());
+    gearTrigger.whenPressed(new SetHighGear());
+    gearTrigger.whenReleased(new SetLowGear());
 
-    SpinRobot180_2 = new JoystickButton(leftJoystick, Constants.OI.SPIN2_PORT);
-    SpinRobot180_2.whenPressed(new Turn180());
-
-    compactRobot_1 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
-    compactRobot_2 = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TOP_LOW_PORT);
-
-    intakeBoulder = new JoystickButton(rightJoystick,
+    // Right joystick
+    intakeTrigger = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
-    shootBoulder = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
-
-    toggleScaling = new DigitalButton(
-        new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
-    toggleScaling.whenPressed(new ToggleScaling());
+    intakeTrigger.whenPressed(new RunIntake());
+    intakeTrigger.whenReleased(new StopIntake());
 
-    if (!Constants.Scaler.SCALING) {
-      compactRobot_1.whenPressed(new CompactRobot());
-      compactRobot_2.whenPressed(new CompactRobot());
-
-      intakeBoulder.whenPressed(new IntakeBall());
-      shootBoulder.whenPressed(new Shoot());
-
-    } else {
-      // toggleShooter becomes winch
-      // compact robot button 1 and 2 retracts the lift
-      // intake button stops the winch
-      // shoot button extends the lift
-      toggleShooter.whenPressed(new RunWinchContinuous(
-          Constants.Scaler.SCALE_SPEED, Constants.Scaler.SECONDS_TO_SCALE));
-      compactRobot_1.whenPressed(new RetractLift());
-      compactRobot_2.whenPressed(new RetractLift());
+    shootBoulder = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOT_PORT);
+    shootBoulder.whenPressed(new Shoot());
 
-      intakeBoulder.whenReleased(new StopWinch());
-      shootBoulder.whenPressed(new ExtendLift());
-    }
+    toggleFront = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
+    toggleFront.whenPressed(new ToggleFront());
   }
 }