Update ports to competition setup, minor bugfixes

[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 fdb91263fd289b31569a5b0f69285aed64803b7e..07352f8787161fe5f47dcb614322a0e50cde57a0 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -3,9 +3,10 @@ package org.usfirst.frc.team3501.robot;
 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.MoveIntakeArm;
 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.commands.shooter.FireCatapult;
+import org.usfirst.frc.team3501.robot.commands.shooter.ResetCatapult;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -16,35 +17,74 @@ public class OI {
   public static Joystick rightJoystick;
 
   // left joystick buttons
-  public static Button gearTrigger;
+  public static Button gearShift;
+  public static Button extendIntake1;
+  public static Button extendIntake2;
+  public static Button retractIntake1;
+  public static Button retractIntake2;
+  public static Button toggleFront;
 
   // right joystick buttons
-  public static Button intakeTrigger;
-  public static Button shootBoulder;
-  public static Button toggleFront;
+  public static Button intake;
+  public static Button outtake1;
+  public static Button outtake2;
+  public static Button shooterUp;
+  public static Button shooterDown1;
+  public static Button shooterDown2;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
     // Left joystick
-    gearTrigger = new JoystickButton(leftJoystick,
-        Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
-    gearTrigger.whenPressed(new SetHighGear());
-    gearTrigger.whenReleased(new SetLowGear());
+    gearShift = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_GEAR_SHIFT_PORT);
+    gearShift.whenPressed(new SetLowGear());
+    gearShift.whenReleased(new SetHighGear());
 
-    // Right joystick
-    intakeTrigger = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_TRIGGER_PORT);
-    intakeTrigger.whenPressed(new RunIntake());
-    intakeTrigger.whenReleased(new StopIntake());
+    extendIntake1 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_1_PORT);
+    extendIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
 
-    shootBoulder = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_SHOOT_PORT);
-    shootBoulder.whenPressed(new Shoot());
+    extendIntake2 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_EXTEND_INTAKE_2_PORT);
+    extendIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.EXTEND));
 
-    toggleFront = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
+    retractIntake1 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_1_PORT);
+    retractIntake1.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
+
+    retractIntake2 = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_RETRACT_INTAKE_2_PORT);
+    retractIntake2.whenPressed(new MoveIntakeArm(Constants.IntakeArm.RETRACT));
+
+    toggleFront = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TOGGLE_FRONT_PORT);
     toggleFront.whenPressed(new ToggleFront());
+
+    // Right joystick
+    intake = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_INTAKE_PORT);
+    intake.whenPressed(new RunIntake(Constants.IntakeArm.IN));
+
+    outtake1 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_OUTTAKE_1_PORT);
+    outtake1.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+
+    outtake2 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_OUTTAKE_2_PORT);
+    outtake2.whenPressed(new RunIntake(Constants.IntakeArm.OUT));
+
+    shooterUp = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_UP_PORT);
+    shooterUp.whenPressed(new FireCatapult());
+
+    shooterDown1 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_1_PORT);
+    shooterDown1.whenPressed(new ResetCatapult());
+
+    shooterDown2 = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_JOYSTICK_SHOOTER_DOWN_2_PORT);
+    shooterDown2.whenPressed(new ResetCatapult());
   }
 }