Fix ports and unusuable code to make shooter test work

[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 2a4dd089d3b895cc7edebda8879db8feb3e7de61..07c47e8405422f77149aa54fabaf7c0cc81b0559 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,5 +1,8 @@
 package org.usfirst.frc.team3501.robot;
 
+import org.usfirst.frc.team3501.robot.commands.driving.ChangeGear;
+import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
+
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
@@ -7,25 +10,127 @@ import edu.wpi.first.wpilibj.buttons.JoystickButton;
 public class OI {
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
-  public static Button leftSilverButton;
-  public static Button rightSilverButton;
-  public static Button thumbButton;
+
+  // 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;
+
+  // right joystick buttons
+  public static Button intakeBoulder;
+  public static Button shootBoulder;
+  public static Button toggleGear;
+
+  // button to change robot to the scaling mode
+  public static DigitalButton toggleScaling;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    leftSilverButton = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_STICK_LEFT_SILVER_BUTTON);
-    ;
+    toggleGear = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TOP_CENTER_PORT);
+    toggleGear.toggleWhenPressed(new ChangeGear());
 
-    rightSilverButton = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_STICK_RIGHT_SILVER_BUTTON);
-    ;
-
-    thumbButton = new JoystickButton(rightJoystick,
-        Constants.OI.RIGHT_STICK_THUMB_BUTTON);
+    shootBoulder = new JoystickButton(leftJoystick,
+        Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+    shootBoulder.whenPressed(new Shoot());
 
+    // 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());
+    //
+    // lowerChevalDeFrise = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
+    // lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
+    //
+    // moveToIntakeBoulder = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
+    // moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
+    //
+    // poiseAboveChevalDeFrise = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
+    // poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
+    //
+    // moveIntakeArmInsideRobot = new DigitalButton(
+    // new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
+    // moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
+    // IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
+    //
+    // toggleShooter = new JoystickButton(leftJoystick,
+    // Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
+    // SpinRobot180_1 = new JoystickButton(leftJoystick,
+    // Constants.OI.SPIN1_PORT);
+    // SpinRobot180_1.whenPressed(new Turn180());
+    //
+    // 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,
+    // 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());
+    //
+    // if (!Constants.Scaler.SCALING) {
+    // toggleShooter.toggleWhenPressed(new runShooter());
+    // 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());
+    //
+    // intakeBoulder.whenReleased(new StopWinch());
+    // shootBoulder.whenPressed(new ExtendLift());
+    // }
   }
-
 }